Automatica, Vol.62, 222-226, 2015
New high order sufficient conditions for configuration tracking
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.