The paper gives sufficient and necessary conditions for small-time local controllability of scalar-input systems based on a classification of quartic Lie brackets, including optimal regularity thresholds.
Introduction to smooth manifolds, volume 218
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Some quartic control results for scalar-input systems
The paper gives sufficient and necessary conditions for small-time local controllability of scalar-input systems based on a classification of quartic Lie brackets, including optimal regularity thresholds.
- Convergent realizations of Lie subalgebras