Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors
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Publication:2280959
DOI10.1016/J.AUTOMATICA.2019.108534zbMATH Open1429.93277arXiv1910.02026OpenAlexW2973341089WikidataQ115583274 ScholiaQ115583274MaRDI QIDQ2280959FDOQ2280959
Authors: Pedro Casau, Christopher G. Mayhew, Ricardo G. Sanfelice, Carlos Silvestre 
Publication date: 19 December 2019
Published in: Automatica (Search for Journal in Brave)
Abstract: In this paper, we design a hybrid controller that globally exponentially stabilizes a system evolving on the n-dimensional sphere, denoted by Sn. This hybrid controller is induced by a synergistic collection of potential functions on Sn. We propose a particular construction of this class of functions that generates flows along geodesics of the sphere, providing convergence to the desired reference with minimal path length. We show that the proposed strategy is suitable to the exponential stabilization of a quadrotor vehicle.
Full work available at URL: https://arxiv.org/abs/1910.02026
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Cited In (7)
- Global robust attitude tracking with torque disturbance rejection via dynamic hybrid feedback
- A four-DOF Lagrangian approach to attitude tracking
- Exponential stabilization of the rolling sphere
- Constrained stabilization on the \(n\)-sphere
- Global stabilization of spherical orientation by synergistic hybrid feedback with application to reduced-attitude tracking for rigid bodies
- Hybrid global exponential stabilization on \(SO(3)\)
- Robust global optimization on smooth compact manifolds via hybrid gradient-free dynamics
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