Western University Scholarship@Western Electronic Thesis and Dissertation Repository 11-29-2017 4:00 PM Hybrid Attitude Control and Estimation On SO(3) Soulaimane Berkane The University of Western Ontario Supervisor Tayebi, Abdelhamid The University of Western Ontario Graduate Program in Electrical and Computer Engineering A thesis submitted in partial fulfillment of the equirr ements for the degree in Doctor of Philosophy © Soulaimane Berkane 2017 Follow this and additional works at: https://ir.lib.uwo.ca/etd Part of the Acoustics, Dynamics, and Controls Commons, Controls and Control Theory Commons, and the Navigation, Guidance, Control and Dynamics Commons Recommended Citation Berkane, Soulaimane, "Hybrid Attitude Control and Estimation On SO(3)" (2017). Electronic Thesis and Dissertation Repository. 5083. https://ir.lib.uwo.ca/etd/5083 This Dissertation/Thesis is brought to you for free and open access by Scholarship@Western. It has been accepted for inclusion in Electronic Thesis and Dissertation Repository by an authorized administrator of Scholarship@Western. For more information, please contact
[email protected]. Abstract This thesis presents a general framework for hybrid attitude control and estimation de- sign on the Special Orthogonal group SO(3). First, the attitude stabilization problem on SO(3) is considered. It is shown that, using a min-switch hybrid control strategy de- signed from a family of potential functions on SO(3), global exponential stabilization on SO(3) can be achieved when this family of potential functions satisfies certain properties. Then, a systematic methodology to construct these potential functions is developed. The proposed hybrid control technique is applied to the attitude tracking problem for rigid body systems.