Hybrid Output Feedback for Attitude Tracking on SO(3)

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.