Nonholonomic path following with fastly oscillating controls

We outline a method of finding sinusoidal controls which assure a semi-exact path following. The method is designed primarily for non-admissible paths and controllable nonholonomic systems. The fastly oscillating sinusoidal controls generate (in approximate sense) new control variables which enable to control new directions. In this way the system becomes, approximately, fully controllable and any path can be followed with arbitrary high precision.