Constrained Stabilization on the n-Sphere

Abstract

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 ${\mathbb{R}}^n$ 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.

accepted in Automatica