Asymptotics of accessibility sets along an abnormal trajectory

Details Asymptotics of accessibility sets along an abnormal trajectory Asymptotics of accessibility sets along an abnormal trajectory

2006-07-18

arxiv.org/abs/math/0607425v1

ESAIM - Control Optimisation and Calculs of Variations 6 (2001) 387--414

Mathematics

Optimization and Control

Scientific paper

We describe precisely, under generic conditions, the contact of the accessibility set at time $T$ with an abnormal direction, first for a single-input affine control system with constraint on the control, and then as an application for a sub-Riemannian system of rank 2. As a consequence we obtain in sub-Riemannian geometry a new splitting-up of the sphere near an abnormal minimizer $\gamma$ into two sectors, bordered by the first Pontryagin's cone along $\gamma$, called the $\xLinfty$-sector and the $\xLtwo$-sector. Moreover we find again necessary and sufficient conditions of optimality of an abnormal trajectory for such systems, for any optimization problem.

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