A constraint proximity-based dynamic damping control law achieves safe almost global asymptotic stabilization of second-order systems on the n-sphere under star-shaped constraints.
Geometric controllability and stabilization of spherical robot dynamics,
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Dynamic Constrained Stabilization on the n-sphere
A constraint proximity-based dynamic damping control law achieves safe almost global asymptotic stabilization of second-order systems on the n-sphere under star-shaped constraints.