{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T16:05:40Z","timestamp":1777910740821,"version":"3.51.4"},"reference-count":36,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2021,4,12]],"date-time":"2021-04-12T00:00:00Z","timestamp":1618185600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2021,6]]},"abstract":"<jats:p>The main purpose of this paper is to introduce a hybrid controller for global attitude tracking of a quadrotor. This controller globally exponentially stabilizes the desired attitude, a task that is impossible to accomplish with memoryless discontinuous or continuous state feedback owing to topological obstruction. Thereafter, this paper presents a new centrally synergistic potential function to construct hybrid feedback that defeats the topological obstruction. This function induces a gradient vector field to globally asymptotically stabilize the reference attitude and produces the synergy gap to generate a switching control law. The proposed control structure is consisting of two major parts. In the first part, a synergetic controller is designed to cooperate with the hybrid controller, whereas it exponentially stabilizes the origin of the error dynamics. In the second part, a hybrid controller is introduced to globally stabilize the attitude of the quadrotor, where an average dwell constraint is considered with the switching control law to guarantee the exponential stability of the switched system. Finally, the effectiveness and superiority of the proposed control technique are validated by a comparative analysis in simulations.<\/jats:p>","DOI":"10.1177\/0142331221996969","type":"journal-article","created":{"date-parts":[[2021,4,13]],"date-time":"2021-04-13T00:01:20Z","timestamp":1618272080000},"page":"2345-2357","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Global exponential stabilization of a quadrotor by hybrid control"],"prefix":"10.1177","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2780-5709","authenticated-orcid":false,"given":"Seyed Hamed","family":"Hashemi","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Faculty of Engineering, Ferdowsi University of Mashhad (FUM), Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6689-9176","authenticated-orcid":false,"given":"Naser","family":"Pariz","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Faculty of Engineering, Ferdowsi University of Mashhad (FUM), Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seyed Kamal","family":"Hosseini Sani","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Faculty of Engineering, Ferdowsi University of Mashhad (FUM), Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2021,4,12]]},"reference":[{"key":"bibr1-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1177\/0142331218774606"},{"key":"bibr2-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2015.7402120"},{"key":"bibr3-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(99)00090-0"},{"key":"bibr4-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2017.8263998"},{"key":"bibr5-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2019.2927708"},{"key":"bibr6-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2019.108534"},{"key":"bibr7-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2906861"},{"key":"bibr8-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/S0959-1524(00)00057-3"},{"key":"bibr9-0142331221996969","volume-title":"Hybrid Dynamical Systems: Modeling Stability, and Robustness","author":"Goedel R","year":"2012"},{"key":"bibr10-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.topol.2004.11.006"},{"key":"bibr11-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2018.2831175"},{"key":"bibr12-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2014.6859397"},{"key":"bibr13-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2018.2810559"},{"key":"bibr14-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1177\/0142331219851925"},{"key":"bibr15-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2015.2407452"},{"key":"bibr16-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.567"},{"key":"bibr17-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2752139"},{"key":"bibr18-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2019.105598"},{"key":"bibr19-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717852"},{"key":"bibr20-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2108490"},{"key":"bibr21-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2011.07.012"},{"key":"bibr22-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.02.049"},{"key":"bibr23-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2013.2266852"},{"key":"bibr24-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.na.2010.04.043"},{"key":"bibr25-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2019.2893817"},{"key":"bibr26-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1145\/2461328.2461346"},{"key":"bibr27-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-49158-5"},{"key":"bibr28-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2901316"},{"key":"bibr29-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2019.01.053"},{"key":"bibr30-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2016.150303"},{"key":"bibr31-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2020.105935"},{"key":"bibr32-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2018.2877440"},{"key":"bibr33-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2016.09.019"},{"key":"bibr34-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1177\/0142331216683772"},{"key":"bibr35-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.02.021"},{"key":"bibr36-0142331221996969","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2364982"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331221996969","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0142331221996969","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331221996969","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T15:05:16Z","timestamp":1777647916000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0142331221996969"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4,12]]},"references-count":36,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2021,6]]}},"alternative-id":["10.1177\/0142331221996969"],"URL":"https:\/\/doi.org\/10.1177\/0142331221996969","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4,12]]}}}