New high order sufficient conditions for configuration tracking

DOI10.1016/J.AUTOMATICA.2015.09.032MaRDI QIDQ901126zbMATH OpenOpenAlexFDO

Authors M. Barbero-Liñán, Mario Sigalotti

Publication date 23 December 2015

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1501.04026

zbMATH Keywords

control systemskinematicsmechanical systemsreductiontracking

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) System structure simplification (93B11) Control/observation systems governed by ordinary differential equations (93C15)

Abstract: In this paper, we propose new conditions guaranteeing that the trajectories of a mechanical control system can track any curve on the configuration manifold. We focus on systems that can be represented as forced affine connection control systems and we generalize the sufficient conditions for tracking known in the literature. The new results are proved by a combination of averaging procedures by highly oscillating controls with the notion of kinematic reduction.

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Cited in

(1)

• High-order sufficient conditions for configuration tracking of affine connection control systems

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