High-order sufficient conditions for configuration tracking of affine connection control systems
نویسندگان
چکیده
منابع مشابه
High-order sufficient conditions for configuration tracking of affine connection control systems
In this paper, we study under which conditions 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 sufficient conditions are expressed in terms of convex cones of vector fields...
متن کاملHigh order sufficient conditions for tracking
In this paper, we study under which conditions 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 sufficient conditions are expressed in terms of convex cones of vector fields...
متن کاملSufficient Conditions for Global Synchronization of Continuous Piecewise Affine Systems
This paper focuses on master slave synchronization problem of piecewise affine (PWA) systems of continuous type. The synchronization problem is solved as a global asymptotic stability problem of the error dynamics between the master and the slave systems via a state feedback control law. Using a Lyapunov approach and the so-called S-procedure, new sufficient conditions are proposed. The synchro...
متن کاملAdaptive Neural Network Method for Consensus Tracking of High-Order Mimo Nonlinear Multi-Agent Systems
This paper is concerned with the consensus tracking problem of high order MIMO nonlinear multi-agent systems. The agents must follow a leader node in presence of unknown dynamics and uncertain external disturbances. The communication network topology of agents is assumed to be a fixed undirected graph. A distributed adaptive control method is proposed to solve the consensus problem utilizing re...
متن کاملThe category of affine connection control systems
The category of affine connection control systems is one whose objects are control affine systems whose drift vector field is the geodesic spray of an affine connection, and whose control vector fields are vertical lifts to the tangent bundle of vector fields on configuration space. This class of system includes a large and important collection of mechanical systems. The morphisms (feedback tra...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Systems & Control Letters
سال: 2010
ISSN: 0167-6911
DOI: 10.1016/j.sysconle.2010.06.011