Hybrid Output Feedback for Attitude Tracking on SO(3)

Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Contribution to journalArticlepeer-review

29 Scopus citations


We present two solutions to the global exponential attitude tacking control problem using only attitude information on {SO}(3). The first approach is based on a combined hybrid observer-hybrid controller structure. We derive a hybrid angular velocity observer for rigid body systems, designed directly on SO(3)×R3, guaranteeing global exponential stability of the zero estimation error. Thereafter, we propose an observer-based attitude tracking control scheme guaranteeing global exponential stability. The second approach consists of introducing an auxiliary dynamical system that generates the necessary damping in the absence of the velocity. We prove that the proposed auxiliary-system-based hybrid controller guarantees global exponential stability as well.

Original languageEnglish (US)
Article number8299435
Pages (from-to)3956-3963
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number11
StatePublished - Nov 2018

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Hybrid Output Feedback for Attitude Tracking on SO(3)'. Together they form a unique fingerprint.

Cite this