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New high order sufficient conditions for configuration tracking

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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Contributor : Mario Sigalotti Connect in order to contact the contributor
Submitted on : Monday, January 19, 2015 - 5:48:43 PM
Last modification on : Tuesday, May 3, 2022 - 6:18:17 PM

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M. Barbero-Liñán, M. Sigalotti. New high order sufficient conditions for configuration tracking. Automatica, Elsevier, 2015, 62, pp.222-226. ⟨10.1016/j.automatica.2015.09.032⟩. ⟨hal-01105126⟩



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