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Author

Kwang Hak Kim

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Preprint Sep 2026

Global Exponential Stabilization of a 3D Nonholonomic Vehicle in Spherical Coordinates

Many spatial (3D) vehicles, including AUVs and fixed-wing aircraft, are effectively nonholonomic and subject to limited actuation, such that continuous time-invariant stabilization is fundamentally obstructed by Brockett's necessary condition. To overcome this obstruction, we exploit the geometric singularity of spheri...

Kwang Hak Kim, Velimir Todorovski, M. Krstić · 1 citation · ⚡1
Preprint Sep 2026

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

Inverse optimal control provides optimality and robustness guarantees without solving the Hamilton--Jacobi--Bellman (HJB) equation, but its application to 3D nonholonomic vehicles has been precluded by the absence of strict control Lyapunov functions (CLFs). Recently, such strict CLFs were constructed for the 3D nonhol...

Kwang Hak Kim, M. Diagne, Miroslav Krstić · 0 citations

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