A geometric reduced-attitude tracking law on S2 is augmented with smooth reference-shaping to enforce a time-varying conic constraint softly while retaining almost-global asymptotic and regional exponential stability.
On the constrained attitude control problem,
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Geometric Reduced-Attitude Tracking Under a Time-Varying Conic Constraint via Smooth Reference-Shaping
A geometric reduced-attitude tracking law on S2 is augmented with smooth reference-shaping to enforce a time-varying conic constraint softly while retaining almost-global asymptotic and regional exponential stability.