Attitude Tracking of a Quadrotor System through Synergistic Hybrid Feedback Control on SO(3)

In this paper we analyze attitude tracking of a quadrotor unmanned aerial vehicle by employing a recently developed feedback strategy based upon hybrid systems theory. The hybrid feedback control strategy employs a family of synergistic potential functions on the special orthogonal group of order three, SO(3), that guarantees global asymptotic stability of a rigid bodies attitude to a given reference. The dynamics model employed in this paper neglects the affect of drag by exploiting the robustness properties of nominally well-posed hybrid systems. The quadrotor is modeled as a rigid body, and controls its attitude with speed of the four rotor blades. The commanded axis torques leave a degree of freedom available, and we exploit this freedom to employ a state feedback law to minimize the displacement of the airframe body in the inertial frame when determining rotor blade speed.