Embarrassingly I fail to see why the following definition works (see e.g. 1)
Consider the continuous function $U:(0,1] \to GL(V)$. If the limit $\lim_{\epsilon \to 0} [x,y]_\epsilon=\lim_{\epsilon \to 0} U_\epsilon^{-1} [U_\epsilon x,U_\epsilon y]_\epsilon=[x,y]_0$ exists for all $x,y \in V$ then $[-,-]$ is a well-defined Lie bracket.
It is obvious to me why it works for any $\epsilon >0$, but as soon as $U$ is singular I do not see why all the properties of a Lie algebra are still satisfied.
E.g., Why has to be that $[x,y]_0 - [y,x]_0 =0$?