A safety filter with ellipsoidal invariant sets is synthesized by one convex LMI for linear systems, but the promised quaternion nonlinear extension is missing and replaced by a fitted error bound.
Optimization of linear systems subject to bounded exogenous disturbances: The invariant ellipsoid technique,
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Robust Safety Filter Synthesis for Quaternion Attitude Dynamics via LMI-Based Ellipsoidal Invariant Sets
A safety filter with ellipsoidal invariant sets is synthesized by one convex LMI for linear systems, but the promised quaternion nonlinear extension is missing and replaced by a fitted error bound.