A Hybrid Approach to Nominal-Robust Attitude Stability: Stochastic Input-Torque Disturbance Modeling and Dual Transmission Control Strategy

This paper investigates the nominal-robust global attitude control on <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$ SO(3)$</tex-math></inline-formula> for a rigid body subject to stochastic, continuous, and rapidly varying input-torque disturbances. We employ an Itô-type stochastic differential equation and implement a dual transmission control strategy via a network channel. The system model integrates two sources of randomness: A Wiener process and a stochastic reset coefficient. The dual transmission control strategy employs a Zeno-free, resource-aware event-triggered strategy that concurrently determines both non-random and uncertain transmission instants, alongside a stochastic reset rule linked to a hybrid control variable. This stochastic hybrid control variable features a deterministic sign that governs the orientation of torque control, effectively mitigating the unwinding phenomenon and ensuring nominal-robust global control.