Nonsmooth Controllability Theory and an Example

This paper extends recent results in local controllability analysis for Multiple Model Driftless A#ne (MMDA) control systems. Such controllability results can be interpreted as non-smooth extensions of Chow's theorem, and use a set-valued Lie Bracket. In particular, we formulate controllability in terms of generalized di#erential quotients (GDQs). Additionally, we present an extensive example in order to illustrate how these results can provide insight into the control of some specific physical systems. Moreover, this paper indicates that a multiple model system consisting of individually controllable models is not necessarily controllable