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math.OC2026
Global Exponential Stabilization of a 3D Nonholonomic Vehicle in Spherical Coordinates
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstic
Many spatial (3D) vehicles, including AUVs and fixed-wing aircraft, are effectively nonholonomic and subject to limited actuation, such that continuous time-invariant stabilization…
math.OC2025
Half-Global Deadbeat Parking for Dubins Vehicle
Miroslav Krstić, Kwang Hak Kim, Velimir Todorovski
This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop cont…
math.OC2025
Inverse Optimal Feedback and Gain Margins for Unicycle Stabilization
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstić
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address t…