Synergistic Hybrid Feedback for Global Rigid-Body Attitude Tracking on $\hbox{ SO }(3)^{\ast}$ ${\ssr {SO}}(3)^{\ast}$

@article{Mayhew2013SynergisticHF,
  title={Synergistic Hybrid Feedback for Global Rigid-Body Attitude Tracking on \$\hbox\{ SO \}(3)^\{\ast\}\$ \$\{\ssr \{SO\}\}(3)^\{\ast\}\$},
  author={Christopher G. Mayhew and Andrew R. Teel},
  journal={IEEE Transactions on Automatic Control},
  year={2013},
  volume={58},
  pages={2730-2742}
}
In this paper, we propose two hybrid feedbacks based on “synergistic” potential functions to achieve robust global asymptotic tracking of rigid-body attitude, a task that is impossible by classical state feedback-be it smooth, nonsmooth, or periodic-due to the topological structure of the special orthogonal group. Both hybrid feedbacks are based upon a proportional-derivative structure where the proportional term is generated from a finite family of control-induced artificial potential energies… CONTINUE READING
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