This paper deals with ane invariant control systems on Lie groups. Controllability conditions for hypersurface systems and for systems on solvable simply connected Lie groups are obtained. A lower bound of the number of controlled vector elds necessary to achieve controllability on simply connected Lie groups is given.
Title: Controllability of Hypersurface and Solvable Invariant Systems
Authors: Yu. L. Sachkov
Journal title: Journal of Dynamical and Control Systems
Pages: 55 - 67