Robust Global Attitude Tracking on SO(3) via MRP-based hybrid feedback
Luís Martins, Carlos Cardeira, Paulo Oliveira · 2024
This paper introduces an innovative control solution to tackle the problem of robust attitude tracking for fully actuated rigid bodies. The approach resorts to the modified Rodrigues parameters (MRP), whose configuration manifold is a double cover of the three-dimensional rotation group, to design a dynamic hybrid controller that yields uniform global asymptotic and semi-global exponential tracking results in the covering space. The controller includes an integral term to deal with constant disturbances and a smoothing mechanism to generate a jump-free control signal. By relying on a hybrid dynamic path-lifting algorithm and novel equivalence of stability concepts, the authors demonstrate that the MRP-based dynamic controller globally asymptotically and semi-globally exponentially stabilizes the tracking dynamics in the base space SO(3) with robustness to small measurement noise and unknown fixed disturbances. The simulation results showcase the performance of the proposed hybrid controller.