{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:GBEZGB2NWYSMJOTMTWAFWJZQAH","short_pith_number":"pith:GBEZGB2N","canonical_record":{"source":{"id":"1501.04767","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T11:31:37Z","cross_cats_sorted":[],"title_canon_sha256":"50acb9770efd2756efeff7c8582ff71b9d02e999eccd203d912b16b58162760a","abstract_canon_sha256":"03db57c8b99b9f127d376be37bc0385d2ee23fa11958d9dff4dfa1a5442c77ec"},"schema_version":"1.0"},"canonical_sha256":"304993074db624c4ba6c9d805b273001d0b2730e18188b67a7047147e793ca64","source":{"kind":"arxiv","id":"1501.04767","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1501.04767","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"arxiv_version","alias_value":"1501.04767v1","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1501.04767","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"pith_short_12","alias_value":"GBEZGB2NWYSM","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_16","alias_value":"GBEZGB2NWYSMJOTM","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_8","alias_value":"GBEZGB2N","created_at":"2026-05-18T12:29:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:GBEZGB2NWYSMJOTMTWAFWJZQAH","target":"record","payload":{"canonical_record":{"source":{"id":"1501.04767","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T11:31:37Z","cross_cats_sorted":[],"title_canon_sha256":"50acb9770efd2756efeff7c8582ff71b9d02e999eccd203d912b16b58162760a","abstract_canon_sha256":"03db57c8b99b9f127d376be37bc0385d2ee23fa11958d9dff4dfa1a5442c77ec"},"schema_version":"1.0"},"canonical_sha256":"304993074db624c4ba6c9d805b273001d0b2730e18188b67a7047147e793ca64","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:29:02.872442Z","signature_b64":"M5acABYdfr3FrfwqFpOUdbWtryygnuR3dj511rRc9rf2BOC6o/sVkvkhtnY+vw/fVqKOsLjLSPuiDPJfSfRBAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"304993074db624c4ba6c9d805b273001d0b2730e18188b67a7047147e793ca64","last_reissued_at":"2026-05-18T02:29:02.872001Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:29:02.872001Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1501.04767","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T02:29:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"W85aNX1BHcv9FooQlsRuUOvh+9Nn9ADGMWBdhiCu/DdobT2N/YPO9FVt9OIHoTyMMostEgk8rXR0WIKB/slQBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T09:55:29.199088Z"},"content_sha256":"7e902699370e4b4c040ff52af0c0043017f105a905afda75749ab321a946261f","schema_version":"1.0","event_id":"sha256:7e902699370e4b4c040ff52af0c0043017f105a905afda75749ab321a946261f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:GBEZGB2NWYSMJOTMTWAFWJZQAH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Inertial Vector Based Attitude Stabilization of Rigid Body Without Angular Velocity Measurements","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"A. Benallegue, A. Tayebi, L. Benziane, Y. Chitour","submitted_at":"2015-01-20T11:31:37Z","abstract_excerpt":"We address the problem of attitude stabilization of a rigid body, in which neither the angular velocity nor the instantaneous measurements of the attitude are used in the feedback, only body vector measurements are needed. The design of the controller is based on an angular velocity observer-like system, where a first order linear auxiliary system based directly on vector measurements is introduced. The introduction of gain matrices provides more tuning flexibility and better results compared with existing works. The proposed controller ensures almost global asymptotic stability. The performan"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1501.04767","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T02:29:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QmbeLYja718lst+0+ZstR1xzC8tYdIA1gpftfoHGovzIZ/bFUH6+w1mS4x4Hx/4i6SAJ3nmb9XKLqYlkDfE3Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T09:55:29.199439Z"},"content_sha256":"8834f66568185fb2df12ff948beb524c3b0b2d5be1b0294976df47c7c52fbcc0","schema_version":"1.0","event_id":"sha256:8834f66568185fb2df12ff948beb524c3b0b2d5be1b0294976df47c7c52fbcc0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GBEZGB2NWYSMJOTMTWAFWJZQAH/bundle.json","state_url":"https://pith.science/pith/GBEZGB2NWYSMJOTMTWAFWJZQAH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GBEZGB2NWYSMJOTMTWAFWJZQAH/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-27T09:55:29Z","links":{"resolver":"https://pith.science/pith/GBEZGB2NWYSMJOTMTWAFWJZQAH","bundle":"https://pith.science/pith/GBEZGB2NWYSMJOTMTWAFWJZQAH/bundle.json","state":"https://pith.science/pith/GBEZGB2NWYSMJOTMTWAFWJZQAH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GBEZGB2NWYSMJOTMTWAFWJZQAH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:GBEZGB2NWYSMJOTMTWAFWJZQAH","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"03db57c8b99b9f127d376be37bc0385d2ee23fa11958d9dff4dfa1a5442c77ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T11:31:37Z","title_canon_sha256":"50acb9770efd2756efeff7c8582ff71b9d02e999eccd203d912b16b58162760a"},"schema_version":"1.0","source":{"id":"1501.04767","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1501.04767","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"arxiv_version","alias_value":"1501.04767v1","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1501.04767","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"pith_short_12","alias_value":"GBEZGB2NWYSM","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_16","alias_value":"GBEZGB2NWYSMJOTM","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_8","alias_value":"GBEZGB2N","created_at":"2026-05-18T12:29:22Z"}],"graph_snapshots":[{"event_id":"sha256:8834f66568185fb2df12ff948beb524c3b0b2d5be1b0294976df47c7c52fbcc0","target":"graph","created_at":"2026-05-18T02:29:02Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"We address the problem of attitude stabilization of a rigid body, in which neither the angular velocity nor the instantaneous measurements of the attitude are used in the feedback, only body vector measurements are needed. The design of the controller is based on an angular velocity observer-like system, where a first order linear auxiliary system based directly on vector measurements is introduced. The introduction of gain matrices provides more tuning flexibility and better results compared with existing works. The proposed controller ensures almost global asymptotic stability. The performan","authors_text":"A. Benallegue, A. Tayebi, L. Benziane, Y. Chitour","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T11:31:37Z","title":"Inertial Vector Based Attitude Stabilization of Rigid Body Without Angular Velocity Measurements"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1501.04767","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:7e902699370e4b4c040ff52af0c0043017f105a905afda75749ab321a946261f","target":"record","created_at":"2026-05-18T02:29:02Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"03db57c8b99b9f127d376be37bc0385d2ee23fa11958d9dff4dfa1a5442c77ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T11:31:37Z","title_canon_sha256":"50acb9770efd2756efeff7c8582ff71b9d02e999eccd203d912b16b58162760a"},"schema_version":"1.0","source":{"id":"1501.04767","kind":"arxiv","version":1}},"canonical_sha256":"304993074db624c4ba6c9d805b273001d0b2730e18188b67a7047147e793ca64","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"304993074db624c4ba6c9d805b273001d0b2730e18188b67a7047147e793ca64","first_computed_at":"2026-05-18T02:29:02.872001Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:29:02.872001Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"M5acABYdfr3FrfwqFpOUdbWtryygnuR3dj511rRc9rf2BOC6o/sVkvkhtnY+vw/fVqKOsLjLSPuiDPJfSfRBAw==","signature_status":"signed_v1","signed_at":"2026-05-18T02:29:02.872442Z","signed_message":"canonical_sha256_bytes"},"source_id":"1501.04767","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7e902699370e4b4c040ff52af0c0043017f105a905afda75749ab321a946261f","sha256:8834f66568185fb2df12ff948beb524c3b0b2d5be1b0294976df47c7c52fbcc0"],"state_sha256":"d417744462122e9e0695c4df80ecd61cb26779c3443445022323744ca0205827"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PZXwWCMjpS/OoxRvC9plLV+4RHIjVuES+8XltCT//F1hM3CK8+7HdcG3gyHRR5qE86W9MOukxH2p1UIcoqlsBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T09:55:29.201271Z","bundle_sha256":"efb113ba89fa8f24a221d211a4b8e137182ef6a76869707cc35e2d53bb5e7adf"}}