In this paper, we propose two hybrid feedbacks based on “synergistic” potential functions to
achieve robust global asymptotic tracking of rigid-body attitude, a task that is impossible by …

Control barrier functions (CBFs) enable constraint satisfaction in controlled dynamical
systems, by map** state constraints into state-dependent input constraints. This article …

Control barrier functions (CBFs) have recently emerged as a means to ensure safety of
controlled dynamical systems. CBFs are suitable for obstacle avoidance, where the CBF is …

In this paper, we tackle the problem of trajectory tracking for a particular class of
underactuated vehicles with full torque actuation and a single force direction (thrust), which …

In this paper, we design a hybrid controller that globally exponentially stabilizes a system
evolving on the n-dimensional sphere, denoted by S n. This hybrid controller is induced by a …

In this paper, we present a hybrid control strategy that allows for global asymptotic tracking
of reference trajectories evolving on smooth manifolds, with nominal robustness. Two …

This paper presents a novel Lagrangian approach to attitude tracking for rigid bodies. The 4-
DOF Lagrangian dynamics presented in this paper describes the rotational rigid motion on …

We show that when a compact set is globally asymptotically stable under the action of a
differential inclusion satisfying certain regularity properties, there exists a smooth differential …

In this paper, we propose a hybrid feedback based on a “synergistic” potential function that
achieves global asymptotic stabilization of a desired orientation on the n-sphere with a …

This article presents an adaptive hybrid feedback control law for global asymptotic tracking
of a hybrid reference system for marine vehicles in the presence of parametric modeling …