SIAM Journal on Control and Optimization, Volume 58, Issue 2, Page 1207-1228, January 2020.
In this article we study how bad can be the singularities of a time-optimal trajectory of a generic control-affine system. Under the assumption that the control has an even number of scalar components and belongs to a closed ball we prove that singularities cannot be, generically, worse than finite order accumulations of Fuller points, with order of accumulation lower than a bound depending only on the dimension of the manifold where the system is set.

中文翻译：

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具有偶数个控件的泛型仿射系统的更充分的奇点

SIAM控制与优化杂志，第58卷，第2期，第1207-1228页，2020
年1月。在本文中，我们研究通用仿射系统的时间最优轨迹的奇异性有多糟糕。在控件具有偶数个标量分量并且属于一个闭合球的假设下，我们证明奇异性一般不会比富勒点的有限阶累积差，累积阶数低于界仅取决于维数设置系统的歧管的位置。