Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4999808 | Automatica | 2017 | 7 Pages |
Abstract
We propose a central synergistic hybrid approach for global exponential stabilization on the Special Orthogonal group SO(3). We introduce a new switching concept relying on a central family of (possibly) non-differentiable potential functions that enjoy the following properties: (1) being quadratic (as well as their gradients) with respect to the Euclidean attitude distance, and (2) being synergistic with respect to the gradient's singular and/or critical points. The proposed approach is used to solve the attitude tracking problem, leading to global exponential stability results.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi,