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Global exponential stabilization on the n-dimensional sphere
Casau P.1; Mayhew C.G.; Sanfelice R.G.3; Silvestre C.2
2015
Conference NameAmerican Control Conference
Source PublicationProceedings of the American Control Conference
Volume2015-July
Pages3218-3223
Conference DateJUL 01-03, 2015
Conference PlaceChicago, IL
CountryUSA
Author of SourceIEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
Abstract

In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by Sn, is a sufficient condition for the global asymptotic stabilization of a point in Sn. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on Sn while the second kind consists of an uncountable number of potential functions on Sn. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

DOI10.1109/ACC.2015.7171828
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000370259203051
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被引频次[WOS]:7   [WOS记录]     [WOS相关记录]
Document TypeConference paper
专题DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Instituto Superior Técnico
2.Universidade de Macau
3.University of California, Santa Cruz
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Casau P.,Mayhew C.G.,Sanfelice R.G.,et al. Global exponential stabilization on the n-dimensional sphere[C]//IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2015:3218-3223.
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