Constrained stabilization on the n-sphere

• 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 Rn 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. 

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Conic constraints

Constrained control

Euclidean sphere world

Obstacle avoidance

Unit n-sphere

Stabilization

2-sphere

Euclidean spaces

Navigation problem

Obstacle avoidance algorithms

Stabilization problems

Stereographic projection

Spheres

Publikations- och innehållstyp

ref (ämneskategori)

art (ämneskategori)