{"paper":{"title":"Robust Safety Filter Synthesis for Quaternion Attitude Dynamics via LMI-Based Ellipsoidal Invariant Sets","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Ali Baniasad, Alireza Sharifi, Reza Pordal","submitted_at":"2025-10-26T18:49:18Z","abstract_excerpt":"We present a safety filter to guarantee constraint satisfaction on the rotation angle in the presence of disturbances. An LMI-based framework simultaneously synthesizes a maximal ellipsoidal robust controlled invariant (RCI) set and its associated state-feedback backup control law by solving a single convex semidefinite program, subject to state and input constraints. To extend this framework to nonlinear quaternion attitude dynamics, we derive exact closed-form sector bounds on the quaternion kinematic nonlinearity and analytically embed them into the LMI via the S-procedure. A smooth mixing "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.22790","kind":"arxiv","version":2},"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/2510.22790/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"}