New high order sufficient conditions for configuration tracking

• María Barbero Liñán ^[2] ; Mario Sigalotti ^[1]
  1. [1] École Polytechnique

     École Polytechnique

     Arrondissement de Palaiseau, Francia

     
  2. [2] Universidad Carlos III de Madrid,Spain
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 62, 2015, págs. 222-226
• Idioma: inglés
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• Resumen

  • 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.