Preprint

Inserted: 26 sep 2025
Last Updated: 1 mar 2026

Year: 2025

Abstract:

We study the problem of non-holonomic point-to-point controllability for ODEs with drift possessing some recursion property of the flow (it is supposed nonwandering or chain recurrent) and satisfying various versions of the H\"ormander condition (also known as Lie bracket generating condition). We show that for the flows on compact manifolds, it suffices to assume the validity of the H\"ormander condition on the closure of the set of their minimal points only. Also, we construct a 2-dimensional example of a drift defining a chain recurrent flow and the vector fields defining the non-holonomic constraint, which together satisfy the H\"ormander condition, but the flow is not controllable in the direction of the given vector fields.

Keywords: global controllability, control affine system, H\"{o}rmander condition, Lie bracket geneating condition, minimal point

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