Local Approximations of the Reachable Set Smooth Control Systems Small-Time Local Controllability
Institute of Mathematics and Informatics Bulgarian Academy of Sciences
Serdica Journal of Computing, Vol. 4, No 1, (2010), 85p-92p
The importance of “control variations” for obtaining local approximations
of the reachable set of nonlinear control systems is well known.
Heuristically, if one can construct control variations in all possible directions,
then the considered control system is small-time locally controllable
(STLC). Two concepts of control variations of higher order are introduced
for the case of smooth control systems. The relation between these variations
and the small-time local controllability is studied and a new sufficient
STLC condition is proved.