Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors
Skip to main content
eScholarship
Open Access Publications from the University of California

Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors

  • Author(s): Casau, Pedro
  • Mayhew, Christopher G
  • Sanfelice, Ricardo G
  • Silvestre, Carlos
  • et al.
Abstract

In this paper, we design a hybrid controller that globally exponentially stabilizes a system evolving on the n-dimensional sphere, denoted by Sn. This hybrid controller is induced by a synergistic collection of potential functions on Sn. 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.

Many UC-authored scholarly publications are freely available on this site because of the UC's open access policies. Let us know how this access is important for you.

Main Content
Current View