In this article, an observer-based adaptive hybrid attitude controller is presented that overcomes the topological obstructions associated with the global attitude stabilization. This hybrid controller consists of two major parts: an adaptive trimodal hybrid controller to eliminate $unwinding$ phenomenon, and a centrally synergistic potential function. In the adaptive trimodal hybrid controller, the first logic variable selects, which quaternion representation of the desired attitude should be tracked. Furthermore, an adaptive technique is introduced to collaborate with the second logic variable to adapt the hysteresis width. The third logic variable controls the mismatch between the auxiliary dynamical system and the actual attitude. Moreover, an auxiliary dynamical system and a nonlinear angular velocity observer are presented whose outputs are utilized in the proposed feedback control law to attain the necessary damping. Furthermore, a new centrally synergistic potential function is presented to cooperate with the trimodal hybrid controller to overcome the topological obstruction associated with the vector bundle structure. The robust global asymptotic stability of the consequent closed-loop system is guaranteed through a Lyapunov analysis. A comparative analysis in simulations illustrates the effectiveness and superiority of the proposed control scheme.

中文翻译：

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基于观测器的自适应混合反馈用于刚体的鲁棒全局姿态稳定

在本文中，提出了一种基于观测器的自适应混合姿态控制器，它克服了与全局姿态稳定相关的拓扑障碍。这种混合控制器由两个主要部分组成：一个自适应三峰混合控制器，用于消除$展开$现象，以及一个集中协同的潜在函数。在自适应三峰混合控制器中，第一个逻辑变量选择应该跟踪期望姿态的四元数表示。此外，引入了自适应技术以与第二逻辑变量协作以适应滞后宽度。第三个逻辑变量控制辅助动力系统与实际姿态的失配。此外，还提出了一个辅助动力系统和一个非线性角速度观测器，它们的输出用于所提出的反馈控制法中，以获得必要的阻尼。此外，提出了一种新的中央协同势函数与三峰混合控制器合作，以克服与矢量束结构相关的拓扑障碍。通过李雅普诺夫分析保证了后续闭环系统的鲁棒全局渐近稳定性。模拟中的比较分析说明了所提出的控制方案的有效性和优越性。