A Passivity Ap roach to Attitude Stabilization Using Nonredun 1 ant Kinematic Parameterieations

In a recent paper we showed that there exist linear controllers which lobally asymptotically stabilize the attitude motion ofa rigid body using a nonredundant, three-dimensional set of kinematic parameters. In this paper we show, 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.