Controllability via chronological calculus
Matthias Kawski · 2003
The chronological formalism, in particular, exponential product expansions and combinatorial features of Viennot-Hall bases are shown to lead to streamlined proofs of conditions for controllability and optimality for nonlinear control systems. The focus is on high-order conditions for small-time local controllability. The key features are adapted Viennot-Hall bases and Lazard elimination tailored to the specific conditions, which together refine the construction of Sussmann's exponential product expansion (1986, 1987).