New high order sufficient conditions for configuration tracking
Optimization and Control
2015-01-19 v1 Differential Geometry
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.
Cite
@article{arxiv.1501.04026,
title = {New high order sufficient conditions for configuration tracking},
author = {M. Barbero-Liñán and M. Sigalotti},
journal= {arXiv preprint arXiv:1501.04026},
year = {2015}
}
Comments
arXiv admin note: text overlap with arXiv:0911.5365