Adaptive quaternion feedback regulation for eigenaxis rotations

Abstract

A controller to rotate a rigid body between two successive orientations is designed. Particular features are the fact that it is based on the quaternion approach, known to provide singularity-free attitude description, and it is adaptive in the sense that it does not need specific knowledge of the inertia matrix. Global stability of the overall controller is proved analytically and tested in computer simulations. © 1994 American Institute of Aeronautics and Astronautics, Inc., All rights reserved.