Global exponential stabilization of a quadrotor by hybrid control

Abstract

The main purpose of this paper is to introduce a hybrid controller for global attitude tracking of a quadrotor. This controller globally exponentially stabilizes the desired attitude, a task that is impossible to accomplish with memoryless discontinuous or continuous state feedback owing to topological obstruction. Thereafter, this paper presents a new centrally synergistic potential function to construct hybrid feedback that defeats the topological obstruction. This function induces a gradient vector field to globally asymptotically stabilize the reference attitude and produces the synergy gap to generate a switching control law. The proposed control structure is consisting of two major parts. In the first part, a synergetic controller is designed to cooperate with the hybrid controller, whereas it exponentially stabilizes the origin of the error dynamics. In the second part, a hybrid controller is introduced to globally stabilize the attitude of the quadrotor, where an average dwell constraint is considered with the switching control law to guarantee the exponential stability of the switched system. Finally, the effectiveness and superiority of the proposed control technique are validated by a comparative analysis in simulations.

Global Asymptotic Convergent Observer for SLAM

“…Most state-of-the-art observers are almost globally stable due to the non-contractibility of the state-space of attitude kinematics (i.e., SO(3)). Consequently, hybrid systems have been used to tackle this topological challenge and to obtain globally stable results [34]. Therefore, the present paper builds on the observer developed by [17] and describes a hybrid observer for solving the SLAM problem.…”

A Global Asymptotic Convergent Observer for SLAM

“…Most state-ofthe-art observers are almost globally stable due to the noncontractibility of the state-space of attitude kinematics (i.e., SO(3)). Consequently, hybrid systems have been used to tackle this topological challenge and to obtain globally stable results [32]. Therefore, the present paper builds on the observer developed by [16] and describes a hybrid observer for solving the SLAM problem.…”

Barrier Lyapunov function–based command-filtered adaptive fuzzy control of random quadrotor systems

“…The quadrotor is an underactuated, highly nonlinear, and strongly coupled dynamic characteristics, and it could be easy to be affected by the system uncertainties, unknown disturbances, and other issues during flight, which is difficult to be controlled by the traditional control method. As a consequence, for controller designs of the quadrotor, many endeavors have been devoted to this direction (Hashemi et al, 2021; Loianno and Kumar, 2018; Tayebi and McGilvray, 2006).…”