The attitude of a rigid-body in the three dimensional space has a unique and global
definition on the Special Orthogonal Group SO (3). This paper gives an overview of the …

Rigid-body attitude control is motivated by aerospace applications that involve attitude
maneuvers or attitude stabilization. The set of attitudes of a rigid body is the set of 3 X 3 …

In this paper, we propose a new quaternion-based feedback control scheme for exponential
attitude stabilization of a four-rotor vertical takeoff and landing aerial robot known as a …

We show that a continuous dynamical system on a state space that has the structure of a
vector bundle on a compact manifold possesses no globally asymptotically stable …

The design of a flight control system capable of not only stabilising attitude but also tracking
a trajectory accurately for an under-actuated quadrotor aircraft is quite challenging. This …

This paper deals with the design and implementation of a nonlinear control algorithm for the
attitude tracking of a four-rotor helicopter known as quadrotor. This algorithm is based on the …

It is well known that controlling the attitude of a rigid body is subject to topological
constraints. We illustrate, with examples, the problems that arise when using continuous and …

This brief describes robust adaptive tracking control systems for the attitude dynamics of a
rigid body. Both the attitude dynamics and the proposed control system are globally …

The aim of this article is to present a novel quaternion based control scheme for the attitude
control problem of a quadrotor. A quaternion is a hyper complex number of rank 4 that can …

The problem of attitude control for a spacecraft model that is nonlinear in dynamics with
inertia uncertainty and external disturbance has been investigated. Adaptive law and …