Geometric local controllability: second-order conditions
Abstract
In a geometric point of view, a nonlinear control system, affine in the
controls, is thought of as an affine subbundle of the tangent bundle of the
state space. In deriving conditions for local controllability from this
point of view, one should describe those properties of the affine subbundle
that either ensure or prohibit local controllability. In this paper,
second-order conditions of this nature are provided. The techniques involve
a fusion of well-established analytical methods with differential geometric
ideas.