Robust Global Attitude Control: Random Reset Rule

In this article, we propose a new random reset rule for attitude control systems, where a new Lyapunov–Foster function implies the robust global attitude control without adding any constraints on the random reset rule, except the support domain for the involved random variables. Compared with deterministic binary logic variables, random variables introduce an automatically adjusted hysteresis half-width for each reset process, thus bring a flexible tradeoff between the hysteresis-induced inefficiency for avoiding unwinding phenomenon and the robustness to measurement noise. A benchmark case for the attitude tracking control of a miniature quadrotor prototype verifies the designed random reset rule.