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Exponential stabilization of the rolling sphere: stability analysis

Authors: Tuhin Das; Ranjan Mukherjee;

Exponential stabilization of the rolling sphere: stability analysis

Abstract

In an earlier paper, we addressed the problem of stabilization of the rolling sphere about any desired configuration. For the controller proposed, we establish in this paper global stability of the desired configuration and exponential convergence of trajectories to this configuration from a large and well defined set in the configuration space. For configurations that lie outside the set, we define simple maneuvers to move them within the set in finite time such that the sphere can be exponentially converged to the desired configuration thereafter. Our theoretical claims are validated using simulations.

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
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