2019/09/03 by Francesco Boarotto, Yacine Chitour, Boarotto, Francesco +3
Engineering · Mathematics · Physics and Astronomy · #Advanced Differential Equations and Dynamical Systems #Advanced Differential Geometry Research #Control and Dynamics of Mobile Robots #FOS: Mathematics #Optimization and Control (math.OC) #Stability and Control of Uncertain Systems
paper · pdf · doi:10.48550/arxiv.1909.01061
openalex publication_date 2019/09/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.