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Author

M. Krstić

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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

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