Global Exponential Attitude Tracking Controls on ${\mathsf {SO}}({\mathsf 3})$

  • Taeyoung Lee
  • Published 2015 in IEEE Transactions on Automatic Control


This technical note presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to follow a given desired attitude trajectory, while guaranteeing almost semi-global exponential stability. It is generalized to achieve global exponential stability by using a hybrid control scheme… (More)

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