Synergistic potential functions for hybrid control of rigid-body attitude

@article{Mayhew2011SynergisticPF,
  title={Synergistic potential functions for hybrid control of rigid-body attitude},
  author={Christopher G. Mayhew and Andrew R. Teel},
  journal={Proceedings of the 2011 American Control Conference},
  year={2011},
  pages={875-880}
}
Achieving global asymptotic stabilization of rigid body attitude is impossible using smooth feedback; however, this obstruction can be overcome using a hybrid controller that coordinates a "synergistic" family of potential functions and their corresponding feedbacks. In this paper, we show that it is impossible to construct a synergistic family of potential functions from the widely used class of "modified trace functions," despite the fact that one can choose a subset of these functions whose… CONTINUE READING

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