Further passivity results for the attitude control problem

@article{Tsiotras1998FurtherPR,
  title={Further passivity results for the attitude control problem},
  author={Panagiotis Tsiotras},
  journal={IEEE Trans. Autom. Control.},
  year={1998},
  volume={43},
  pages={1597-1600}
}
In this paper we establish passivity for the system which describes the attitude motion of a rigid body in terms of minimal three-dimensional kinematic parameters. In particular, we show that linear asymptotically stabilizing controllers and control laws without angular velocity measurements follow naturally from these passivity properties. The results of this paper extend similar results for the case of the (nonminimal) Euler parameters. 
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