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.

本文的主要目的是介绍一种用于四旋翼全局姿态跟踪的混合控制器。该控制器全局指数地稳定了所需的姿态，该任务由于拓扑阻塞而无法通过无记忆的不连续或连续状态反馈来完成。此后，本文提出了一种新的集中协同势函数来构建克服拓扑障碍的混合反馈。该函数引起梯度矢量场以全局渐近地稳定参考姿态，并产生协同间隙以生成切换控制定律。拟议的控制结构包括两个主要部分。在第一部分中，协同控制器被设计为与混合控制器协作，而它以指数形式稳定了误差动态的原点。在第二部分中，引入了一种混合控制器来全局稳定四旋翼的姿态，在这种情况下，根据切换控制定律考虑平均驻留约束，以确保切换系统的指数稳定性。最后，通过仿真比较分析验证了所提控制技术的有效性和优越性。