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Fuller singularities for generic control-affine systems with an even number of controls

Abstract : In this article we study how bad can be the singularities of a time-optimal trajectory of a generic control affine system. In the case where the control is scalar and belongs to a closed interval it was recently shown in [6] that singularities cannot be, generically, worse than finite order accumulations of Fuller points, with order of accumulation lower than a bound depending only on the dimension of the manifold where the system is set. We extend here such a result to the case where the control has an even number of scalar components and belongs to a closed ball.
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https://hal.inria.fr/hal-02276960
Contributor : Mario Sigalotti <>
Submitted on : Friday, February 21, 2020 - 9:10:08 AM
Last modification on : Friday, March 27, 2020 - 2:16:20 AM

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  • HAL Id : hal-02276960, version 2
  • ARXIV : 1909.01061

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Francesco Boarotto, Yacine Chitour, Mario Sigalotti. Fuller singularities for generic control-affine systems with an even number of controls. 2020. ⟨hal-02276960v2⟩

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