Synergistic potential functions from single modified trace function on SO(3)

This paper is about the construction of a family centrally synergistic potential functions from single modified trace function on SO(3). First, we demonstrate that it possible to complete through angular warping with multiple directions, particularly effective in unresolved cases literature. Second, can be shown for each family, there exists subset such gap positive at unwanted critical points. allows switching condition checked within selected subsets while implementing hybrid control. Furthermore, lower bound explicitly expressed by selecting traditional angle function. Finally, apply proposed obtain robust global attitude tracking.