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- W4380136633 abstract "Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space. However, when switching faults occur due to parameter errors, the non-centrally synergistic property can lead to the unwinding problem or in some cases, destabilize the desired set. In this work, a hybrid controller is first proposed based on a novel centrally synergistic family of potential functions on $mathbb{S}^n$, which is generated from a basic potential function through angular warping. The synergistic parameter can be explicitly expressed if the warping angle has a positive lower bound at the undesired critical points of the family. Next, the proposed approach induces a new quaternion-based controller for global attitude tracking. It has three advantageous features over existing synergistic designs: 1) it is consistent, i.e., free from the ambiguity of unit quaternion representation; 2) it is switching-fault-tolerant, i.e., the desired closed-loop equilibria remain asymptotically stable even when the switching mechanism does not work; 3) it relaxes the assumption on the parameter of the basic potential function in literature. Comprehensive simulation confirms the high robustness of the proposed centrally synergistic approach compared with existing non-centrally synergistic approaches." @default.
- W4380136633 created "2023-06-10" @default.
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- W4380136633 date "2023-01-01" @default.
- W4380136633 modified "2023-09-23" @default.
- W4380136633 title "Global Stabilization of Antipodal Points on $n$-Sphere with Application to Attitude Tracking" @default.
- W4380136633 doi "https://doi.org/10.1109/tac.2023.3281341" @default.
- W4380136633 hasPublicationYear "2023" @default.
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