TY - JOUR
T1 - Hybrid global exponential stabilization on SO(3)
AU - Berkane, Soulaimane
AU - Abdessameud, Abdelkader
AU - Tayebi, Abdelhamid
N1 - Publisher Copyright:
© 2017 Elsevier Ltd
PY - 2017/7/1
Y1 - 2017/7/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85018477828&partnerID=8YFLogxK
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U2 - 10.1016/j.automatica.2017.04.001
DO - 10.1016/j.automatica.2017.04.001
M3 - Article
AN - SCOPUS:85018477828
SN - 0005-1098
VL - 81
SP - 279
EP - 285
JO - Automatica
JF - Automatica
ER -