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RESEARCH PRODUCT

Bifurcations of Reachable Sets Near an Abnormal Direction and Consequences

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We describe precisely, under generic conditions, the contact and the bifurcations of the reachable set at time T along an abnormal direction, first for a single-input affine control system with constraint on the control, and then as an application for a sub-Riemannian system of rank 2. As a consequence we obtain in sub-Riemannian geometry a new splitting-up of the sphere near an abnormal minimizer γ into two sectors, bordered by the first Pontryagin’s cone along γ, called the L ∞-sector and the L 2-sector. Moreover we find again necessary and sufficient conditions of optimality of an abnormal trajectory for such systems, for any optimization problem.