A passivity approach to attitude stabilization using nonredundant kinematic parameterizations

The author previously (Symposium on Automatic Control in Aerospace, p. 316-21, 1994) showed that there exist linear controllers which globally asymptotically stabilize the attitude motion of a rigid body using a nonredundant, three-dimensional set of kinematic parameters. In this paper it is shown, using the inherent passivity properties of the system, that these results can be extended to stabilizing control laws without any angular velocity measurements. A numerical example demonstrates the theoretical results.

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