{"id":"https://openalex.org/W2053442363","doi":"https://doi.org/10.1109/tac.2013.2266852","title":"Synergistic Hybrid Feedback for Global Rigid-Body Attitude Tracking on <formula formulatype=\"inline\"><tex Notation=\"TeX\">$\\hbox{ SO }(3)^{\\ast}$</tex></formula> <formula formulatype=\"inline\"><tex Notation=\"TeX\">${\\ssr {SO}}(3)^{\\ast}$</tex></formula>","display_name":"Synergistic Hybrid Feedback for Global Rigid-Body Attitude Tracking on <formula formulatype=\"inline\"><tex Notation=\"TeX\">$\\hbox{ SO }(3)^{\\ast}$</tex></formula> <formula formulatype=\"inline\"><tex Notation=\"TeX\">${\\ssr {SO}}(3)^{\\ast}$</tex></formula>","publication_year":2013,"publication_date":"2013-06-07","ids":{"openalex":"https://openalex.org/W2053442363","doi":"https://doi.org/10.1109/tac.2013.2266852","mag":"2053442363"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2013.2266852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2013.2266852","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043506578","display_name":"Christopher G. Mayhew","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Christopher G. Mayhew","raw_affiliation_strings":["Robert Bosch Research and Technology Center, Palo Alto, CA, USA","[Robert Bosch Research and Technology Center, Palo Alto, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch Research and Technology Center, Palo Alto, CA, USA","institution_ids":["https://openalex.org/I4210120115"]},{"raw_affiliation_string":"[Robert Bosch Research and Technology Center, Palo Alto, CA, USA]","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002737786","display_name":"Andrew R. Teel","orcid":"https://orcid.org/0000-0002-6508-0879"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew R. Teel","raw_affiliation_strings":["Center for Control Engineering and Computation, Electrical and Computer Engineering Department, University of California, Santa Barbara, CA, USA","Electr. & Comput. Eng. Dept., Univ. of California Santa Barbara, Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Control Engineering and Computation, Electrical and Computer Engineering Department, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Electr. & Comput. Eng. Dept., Univ. of California Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":91.9023,"has_fulltext":false,"cited_by_count":81,"citation_normalized_percentile":{"value":0.9972871,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"58","issue":"11","first_page":"2730","last_page":"2742"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12005","display_name":"Spaceflight effects on biology","score":0.9764999747276306,"subfield":{"id":"https://openalex.org/subfields/2737","display_name":"Physiology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6337348222732544},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5723785161972046},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5571437478065491},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4471721947193146},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.44319748878479004},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42985472083091736},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.3451770544052124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.22396263480186462},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22221845388412476},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.20985999703407288},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1729886531829834},{"id":"https://openalex.org/keywords/quantum-mechanics","display_name":"Quantum mechanics","score":0.09713554382324219}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6337348222732544},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5723785161972046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5571437478065491},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4471721947193146},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.44319748878479004},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42985472083091736},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.3451770544052124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.22396263480186462},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22221845388412476},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.20985999703407288},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1729886531829834},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.09713554382324219},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2013.2266852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2013.2266852","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W19432330","https://openalex.org/W1501759952","https://openalex.org/W1515493836","https://openalex.org/W1543651123","https://openalex.org/W1560960117","https://openalex.org/W1657186626","https://openalex.org/W1949813140","https://openalex.org/W1957056377","https://openalex.org/W1972176790","https://openalex.org/W1979009520","https://openalex.org/W1979378582","https://openalex.org/W1980330256","https://openalex.org/W1989102034","https://openalex.org/W1989230227","https://openalex.org/W2001569400","https://openalex.org/W2012165335","https://openalex.org/W2018431869","https://openalex.org/W2024145790","https://openalex.org/W2036131280","https://openalex.org/W2046287268","https://openalex.org/W2049918078","https://openalex.org/W2058714333","https://openalex.org/W2066625172","https://openalex.org/W2076578526","https://openalex.org/W2097020018","https://openalex.org/W2099308299","https://openalex.org/W2099567135","https://openalex.org/W2100432436","https://openalex.org/W2107615213","https://openalex.org/W2109656638","https://openalex.org/W2112248103","https://openalex.org/W2115555893","https://openalex.org/W2115602714","https://openalex.org/W2122582511","https://openalex.org/W2124228020","https://openalex.org/W2125691646","https://openalex.org/W2127407557","https://openalex.org/W2127918239","https://openalex.org/W2128011079","https://openalex.org/W2128972576","https://openalex.org/W2129758865","https://openalex.org/W2132080029","https://openalex.org/W2136384363","https://openalex.org/W2137427741","https://openalex.org/W2139808686","https://openalex.org/W2142577696","https://openalex.org/W2142717543","https://openalex.org/W2145530662","https://openalex.org/W2152855691","https://openalex.org/W2154101061","https://openalex.org/W2162297159","https://openalex.org/W2162379117","https://openalex.org/W2163446304","https://openalex.org/W2164369378","https://openalex.org/W2174324474","https://openalex.org/W2180825904","https://openalex.org/W2482592419","https://openalex.org/W2561640728","https://openalex.org/W4210718478","https://openalex.org/W4239135345","https://openalex.org/W4239216443","https://openalex.org/W4293713108","https://openalex.org/W6600799268","https://openalex.org/W6636888286","https://openalex.org/W6681187315"],"related_works":["https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W2534185822","https://openalex.org/W2771027241","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W2063297487","https://openalex.org/W4205142328"],"abstract_inverted_index":{"In":[0,79],"this":[1],"paper,":[2],"we":[3,161,216],"propose":[4],"two":[5],"hybrid":[6,46,84,130,165],"feedbacks":[7,47],"based":[8,49],"on":[9],"\u201csynergistic\u201d":[10],"potential":[11,67,93,111,117,155,202],"functions":[12],"to":[13,36,75,88,150,197,210],"achieve":[14],"robust":[15,125],"global":[16],"asymptotic":[17,126],"tracking":[18],"of":[19,40,64,109,124,136,189],"rigid-body":[20],"attitude,":[21],"a":[22,51,61,76,80,96,115,151,158,163,199,212],"task":[23],"that":[24,103,167,185],"is":[25,58,73,132,193],"impossible":[26],"by":[27,175],"classical":[28],"state":[29],"feedback-be":[30],"it":[31],"smooth,":[32],"nonsmooth,":[33],"or":[34],"periodic-due":[35],"the":[37,41,55,70,83,89,120,122,133,146,154,169,172,179,187,205],"topological":[38],"structure":[39,53],"special":[42],"orthogonal":[43],"group.":[44],"Both":[45],"are":[48],"upon":[50],"proportional-derivative":[52],"where":[54],"proportional":[56],"term":[57,72],"generated":[59],"from":[60],"finite":[62,97],"family":[63,214],"control-induced":[65,91],"artificial":[66,92],"energies":[68],"and":[69,140,215],"derivative":[71],"due":[74,149],"damping":[77],"injection.":[78],"patient-yet-greedy":[81],"fashion,":[82],"feedback":[85,131,166],"hysteretically":[86],"switches":[87],"minimum":[90],"energy":[94,118],"in":[95,119,142,145,171],"family.":[98],"The":[99,128],"synergy":[100],"property-which":[101],"requires":[102],"for":[104,220],"each":[105,110],"undesirable":[106],"critical":[107],"point":[108],"energy,":[112],"there":[113],"exists":[114],"lower":[116],"family-guarantees":[121],"globality":[123],"tracking.":[127],"first":[129],"natural":[134],"extension":[135],"existing":[137],"PD":[138],"controllers":[139],"results":[141],"discontinuous":[143],"jumps":[144,170],"control":[147,173],"signal":[148],"direct":[152],"switch":[153],"energy.":[156],"Using":[157],"backstepping":[159],"procedure,":[160],"design":[162],"second":[164],"smooths":[168],"torque":[174],"dynamically":[176],"interpolating":[177],"between":[178],"switching":[180],"potential-energy":[181],"terms.":[182],"We":[183],"show":[184],"while":[186],"class":[188],"\u201cmodified":[190],"trace":[191],"functions\u201d":[192],"not":[194],"wide":[195],"enough":[196],"generate":[198],"\u201ccentrally":[200],"synergistic\u201d":[201],"function,":[203],"relaxing":[204],"centrality":[206],"assumption":[207],"allows":[208],"one":[209],"construct":[211],"synergistic":[213],"provide":[217],"explicit":[218],"guidelines":[219],"doing":[221],"so.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}