Abstract:In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on SO(3). Hence in this work, we propose some control protocols achieve almost global tracking asymptotically and in finite time, respectively. In these protocols, no world frame is needed and only relative state informations are requested. For finitetime tracking case, Filippov solutions … Show more
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