IEEE Transactions on Automatic Control, Vol.46, No.7, 1122-1126, 2001
Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts
An infinitely rigid mass is considered, which moves on a plane under the action of proper control forces, within a closed region delimited by an infinitely massive and rigid circular barrier. A suitably amended tracking problem for a class of periodic trajectories, involving an infinite number of nonsmooth impacts between the mass and the barrier, is formally stated and solved.