New high order sufficient conditions for configuration tracking Articles uri icon

authors

  • BARBERO LIÑAN, MARIA
  • SIGALOTTI, MARIO

publication date

  • December 2015

start page

  • 222

end page

  • 226

volume

  • 62

International Standard Serial Number (ISSN)

  • 0005-1098

Electronic International Standard Serial Number (EISSN)

  • 1873-2836

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. (C) 2015 Elsevier Ltd. All rights reserved.

keywords

  • control systems; kinematics; mechanical systems; reduction; tracking; navier stokes equations; nonholonomic systems; controllability