The structure of reachable sets for affine control systems induced by generalized Martinet sub-lorentzian metrics
Marek Grochowski (2012)
ESAIM: Control, Optimisation and Calculus of Variations
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In this paper we investigate analytic affine control systems = , ∈ [] , where is an orthonormal frame for a generalized Martinet sub-Lorentzian structure of order of Hamiltonian type. We construct normal forms for such systems and, among other things, we study the connection between the presence of the singular trajectory starting at on the boundary of the reachable set from with the minimal number of analytic functions needed for...