Hybrid global exponential stabilization on SO(3)

Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Contribution to journalArticlepeer-review

47 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)279-285
Number of pages7
StatePublished - Jul 1 2017

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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