Champs de vecteurs adjoints sur les groupes et algèbres de Lie semi-simples.
We classify the left-invariant control affine systems evolving on the orthogonal group . The equivalence relation under consideration is detached feedback equivalence. Each possible number of inputs is considered; both the homogeneous and inhomogeneous systems are covered. A complete list of class representatives is identified and controllability of each representative system is determined.