Global Controllability for General Nonlinear Systems.

This note studies the global controllability of a general nonlinear system by extending it to affine one. The state space of the obtained affine system admits a nature foliation, each leaf of which is diffeomorphic to the state space of the original system. Through this foliation, the global controllability of these two kinds of systems are closely related and we prove that they are indeed equivalent. The result is then extended to the case with bounded inputs to make it practically more useful. To demonstrate the power of our approach, several examples are presented.