Hybrid global exponential stabilization on SO(3)

Soulaimane Berkane; Abdelkader Abdessameud; Abdelhamid Tayebi

doi:10.1016/j.automatica.2017.04.001

Hybrid global exponential stabilization on SO(3)

Soulaimane Berkane
, Abdelkader Abdessameud
, Abdelhamid Tayebi

School of Science, Engineering & Technology (Harrisburg)

Research output: Contribution to journal › Article › peer-review

58 Scopus citations

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.

Original language	English (US)
Pages (from-to)	279-285
Number of pages	7
Journal	Automatica
Volume	81
DOIs	https://doi.org/10.1016/j.automatica.2017.04.001
State	Published - Jul 1 2017

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/j.automatica.2017.04.001

Cite this

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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.

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SP - 279

EP - 285

JO - Automatica

JF - Automatica

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Hybrid global exponential stabilization on SO(3)

Abstract

All Science Journal Classification (ASJC) codes

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