A distribution is said to be smooth if it is locally generated by sets
(possibly infinite) of vector fields, that is, for each \(x^{0} \in
\mathcal{O}\) there is a subset \(\mathcal{F} \subseteq V(\mathcal{O})\), and
there is an open subset \(\mathcal{O}_{0} \subseteq \mathcal{O}\) which contains
\(x^{0}\), such that, for each \(x \in \mathcal{O}_{0}, \Delta(x)\) is the span of
the vectors \(\\{f(x), f \in \mathcal{F}\\}\). Show that, if \(\Delta\) is a
smooth distribution of constant rank \(r\), then for each \(x^{0} \in
\mathcal{O}\) there is some open subset \(\mathcal{O}_{0} \subseteq \mathcal{O}\)
which contains \(x^{0}\), and a set of \(r\) vector fields \(f_{1}, \ldots, f_{r}\),
such that \(\Delta=\Delta_{f_{1}, \ldots, f_{r}}\) on \(\mathcal{O}_{0}\), that
is, \(\Delta(x)=\operatorname{span}\left\\{f_{1}(x), \ldots, f_{r}(x)\right\\}\)
for each \(x \in \mathcal{O}_{0}\).
Invariance of a distribution under \(f\) is equivalent to invariance under the
linear operators \(\mathrm{Ad}_{t f}\), in the sense that \(\Delta\) is invariant
under \(f\) if and only if \(\operatorname{Ad}_{t f} g(x) \in \Delta(x)\) for each
\((t, x) \in \mathcal{D}_{f}\) and each \(g \in_{p} \Delta\). This fact, proved
next, is perhaps the most important property of the Lie bracket operation. (We
need a slightly stronger version, in which \(g\) is not necessarily defined
globally.)