Inverse Optimal Feedback Stabilization of 3D Nonholonomic Vehicles in Spherical Coordinates

arXiv:2609.36212 · math.OC, cs.SY, eess.SY · Submitted 2026-09-28 · Read on arXiv

math.OC, cs.SY, eess.SY

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Robustness — 4× in this paper · explained in 5 episodes
• Lyapunov function — 3× in this paper · explained in 2 episodes
• Steering — 3× in this paper · explained in 2 episodes
• IEEE Conference on Decision and Control — 2× in this paper

Sources

• Nonholonomic Robot Parking by Feedback -- Part II: Nonmodular, Inverse Optimal, Adaptive, Prescribed/Fixed-Time and Safe Designs
• Global Exponential Stabilization of a 3D Nonholonomic Vehicle in Spherical Coordinates
• Nonholonomic Robot Parking by Feedback -- Part I: Modular Strict CLF Designs

Related papers

• Lions and Muons: Optimization via Stochastic Frank-Wolfe under Heavy-Tailed Noise
• Adam-HNAG: A Convergent Reformulation of Adam with Accelerated Rate
• Incremental Learning in Mirror Flows
• Online Control via Counterfactual Tracking
• Asynchronous Replanning in Two Population Linear Quadratic Mean Field Games: Information Requirements and Stability
• Petrov-Galerkin operator inference with application to stability-encouraging identification