TY - JOUR T1 - On the local structure of optimal trajectories in R3 JF - SIAM J. Control Optim. 42 (2003) 513-531 Y1 - 2003 A1 - Andrei A. Agrachev A1 - Mario Sigalotti AB - We analyze the structure of a control function u(t) corresponding to an optimal trajectory for the system $\\\\dot q =f(q)+u\\\\, g(q)$ in a three-dimensional manifold, near a point where some nondegeneracy conditions are satisfied. The kind of optimality which is studied includes time-optimality. The control turns out to be the concatenation of some bang and some singular arcs. Studying the index of the second variation of the switching times, the number of such arcs is bounded by four. PB - SISSA Library UR - http://hdl.handle.net/1963/1612 U1 - 2506 U2 - Mathematics U3 - Functional Analysis and Applications ER -