Dynamic Constrained Stabilization on the n-sphere

Mayur Sawant; Abdelhamid Tayebi

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arXiv · 2603.27382

Dynamic Constrained Stabilization on the n-sphere

Mayur Sawant·Abdelhamid Tayebi

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Abstract

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.

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Mayur Sawant, Abdelhamid Tayebi. 2026-03-28. Dynamic Constrained Stabilization on the n-sphere. https://arxiv.org/abs/2603.27382

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