Hybrid Control for Robust and Global Tracking on Smooth Manifolds

Abstract

In this paper, we present a hybrid control strategy that allows for global asymptotic tracking of reference trajectories evolving on smooth manifolds, with nominal robustness. Two different versions of the hybrid controller are presented: one which allows for discontinuities of the plant input and a second one that removes the discontinuities via dynamic extension. By taking an exosystem approach, we provide a general construction of a hybrid controller that guarantees global asymptotic stability of the zero tracking error set. The proposed construction relies on the existence of proper indicators and a transport map-like function for the given manifold. We provide a construction of these functions for the case where each chart in a smooth atlas for the manifold maps its domain onto the Euclidean space. We also provide conditions for exponential convergence to the zero tracking error set. To illustrate these properties, the proposed controller is exercised on three different compact manifolds—the two-dimensional sphere, the unit-quaternion group, and the special orthogonal group of order three—and further applied to the problems of obstacle avoidance in the plane and global synchronization on the circle.