Dynamic Constrained Stabilization on the n-sphere
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866910129395335168 |
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| author | Sawant, Mayur Tayebi, Abdelhamid |
| author_facet | Sawant, Mayur Tayebi, Abdelhamid |
| contents | We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping mechanism that ensures safe and almost global asymptotic stabilization of the target point in the presence of star-shaped constraints on the n-sphere. It is also shown that the proposed approach can be used to deal with the constrained rigid-body attitude stabilization. The effectiveness of the proposed approach is demonstrated through simulation results on the 2-sphere in the presence of star-shaped constraint sets. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_27382 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Dynamic Constrained Stabilization on the n-sphere Sawant, Mayur Tayebi, Abdelhamid Optimization and Control Systems and Control We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping mechanism that ensures safe and almost global asymptotic stabilization of the target point in the presence of star-shaped constraints on the n-sphere. It is also shown that the proposed approach can be used to deal with the constrained rigid-body attitude stabilization. The effectiveness of the proposed approach is demonstrated through simulation results on the 2-sphere in the presence of star-shaped constraint sets. |
| title | Dynamic Constrained Stabilization on the n-sphere |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2603.27382 |