{"paper":{"title":"Geometric Reduced-Attitude Tracking Under a Time-Varying Conic Constraint via Smooth Reference-Shaping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"math.OC","authors_text":"Carlos Silvestre, Joel Reis, Paulo Oliveira, Pedro Santos","submitted_at":"2026-07-01T11:22:09Z","abstract_excerpt":"This letter studies reduced-attitude tracking for a rigid body on the 2-sphere S2 under a time-varying conic constraint. Using a kinematic model on S2, we first propose a geometric tracking law that guarantees almostglobal asymptotic and regionally exponential convergence in the unconstrained case, where the angular velocity serves as the control input. We then introduce a smooth reference-shaping mechanism that adjusts the desired direction so that the reference provided to the controller satisfies the time-varying conic constraint while preserving the smoothness required by the tracking law."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.00793","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.00793/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}