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Constrained stabilization on the n-sphere
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DOI：10.1016/j.automatica.2020.109416.png)
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摘要
En 中文
We solve the stabilization problem on the n-sphere in the presence of conic constraints. We use the stereographic projection to map this problem to the classical navigation problem on Fin in the presence of spherical obstacles. As a consequence, any obstacle avoidance algorithm for navigation in the Euclidean space can be used to solve the given problem on the n-sphere. We illustrate the effectiveness of the approach using the kinematics of the reduced attitude model on the 2-sphere. (C) 2020 Elsevier Ltd. All rights reserved.
Keyword:
Constrained control
Unit n-sphere
Conic constraints
Obstacle avoidance
Euclidean sphere world
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期刊
IF:
5.9
论文数:
1.2W
被引数:
5.2W
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