Journal
AUTOMATICA
Volume 110, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2019.108534
Keywords
Hybrid control systems; Synergistic potential functions; Lyapunov-based control
Funding
- University of Macau [MYRG2018-00198-FST, MYRG2016-00097-FST]
- Macau Science and Technology, Development Fund [FDCT/026/2017/A1]
- Fundacao para a Ciencia e a Tecnologia (FCT) [UID/EEA/50009/2019, CEECIND/04652/2017]
- National Science Foundation, NSF, USA [ECS-1710621, CNS-1544396]
- AFOSR, USA [FA9550-16-1-0015, FA9550-19-1-0053, FA9550-19-1-0169]
- CITRIS, USA
- Banatao Institute, USA at the University of California
Ask authors/readers for more resources
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 synergistic collection of potential functions on S-n. We propose a particular construction of this class of functions that generates flows along geodesics of the sphere, providing convergence to the desired reference with minimal path length. We show that the proposed strategy is suitable to the exponential stabilization of a quadrotor vehicle. (C) 2019 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available