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- W2110636401 abstract "In this paper, we propose a hybrid feedback based on a “synergistic” potential function that achieves global asymptotic stabilization of a desired orientation on the n-sphere with a nominal robustness to measurement disturbances, a task that is not possible by classical feedback–be it smooth, nonsmooth, periodic, or any combination thereof–due to the topological structure of the sphere. We extend this basic result to a tracking controller for the reduced attitude–or pointing direction–of a rigid body and provide a method to remove jumps in the controlled torque by backstepping. The proposed hybrid feedback is compared with a similar smooth feedback in simulation, where it is illustrated that the hybrid feedback overcomes performance limitations inherent to the smooth feedback. We provide two examples of a synergistic potential function–one defined on a general sphere and the other on the unit circle." @default.
- W2110636401 created "2016-06-24" @default.
- W2110636401 creator A5002737786 @default.
- W2110636401 creator A5043506578 @default.
- W2110636401 date "2013-07-01" @default.
- W2110636401 modified "2023-09-25" @default.
- W2110636401 title "Global stabilization of spherical orientation by synergistic hybrid feedback with application to reduced-attitude tracking for rigid bodies" @default.
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- W2110636401 doi "https://doi.org/10.1016/j.automatica.2013.02.049" @default.
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