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Hybrid global exponential stabilization on SO (3)
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 …
Special Orthogonal group SO (3). We introduce a new switching concept relying on a central …
Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors
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 …
evolving on the n-dimensional sphere, denoted by S n. This hybrid controller is induced by a …
Global Stabilization of Antipodal Points on -Sphere With Application to Attitude Tracking
Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on
unit-sphere typically involve the noncentrally synergistic hybrid controllers for attitude …
unit-sphere typically involve the noncentrally synergistic hybrid controllers for attitude …
Trajectory Tracking for Quadrotors with Attitude Control on
The control of a quadrotor is typically split into two subsequent problems: finding desired
accelerations to control its position, and controlling its attitude and the total thrust to track …
accelerations to control its position, and controlling its attitude and the total thrust to track …
Constrained stabilization on the n-sphere
We solve the stabilization problem on the n-sphere in the presence of conic constraints. We
use the stereographic projection to map this problem to the classical navigation problem on …
use the stereographic projection to map this problem to the classical navigation problem on …
Improved maneuverability for multirotor aerial vehicles using globally stabilizing feedbacks
In this paper, we present the design of trajectory tracking controllers for multirotor aerial
vehicles that have the ability to operate both with and without thrust reversal. We follow a …
vehicles that have the ability to operate both with and without thrust reversal. We follow a …
Global asymptotic stabilization of spherical orientation by synergistic hybrid feedback with application to reduced attitude synchronization
In this paper, we develop a hybrid controller for global asymptotic stabilization on the n-
dimensional sphere (\mathbbS n) using synergistic potential functions. These consist of a …
dimensional sphere (\mathbbS n) using synergistic potential functions. These consist of a …
Control of a Driftless Bilinear Vector Field on -Sphere
In this paper, we consider a multi-input driftless bilinear system evolving on the n-
dimensional sphere S n. We first provide examples drawn from rigid body mechanics that …
dimensional sphere S n. We first provide examples drawn from rigid body mechanics that …
Hybrid feedback for global asymptotic stabilization on a compact manifold
In this paper, we employ a hybrid feedback control strategy to globally asymptotically
stabilize a setpoint on a smooth compact manifold without boundary satisfying the following …
stabilize a setpoint on a smooth compact manifold without boundary satisfying the following …
Exponential stabilization of a vectored-thrust vehicle using synergistic potential functions
In this paper, we design a hybrid controller based on the concept of centrally synergistic
potential functions on the n-dimensional sphere to achieve global tracking of an attitude …
potential functions on the n-dimensional sphere to achieve global tracking of an attitude …