This article is an introduction to feedback control design for a family of robotic aerial vehicles
with vertical take-off and landing (VTOL) capabilities such as quadrotors, ducted-fan tail …

In this paper, we propose two hybrid feedbacks based on “synergistic” potential functions to
achieve robust global asymptotic tracking of rigid-body attitude, a task that is impossible by …

The existing rigid body attitude controllers (without angular velocity measurements) involve
explicitly the attitude in the feedback. Unfortunately, there does not exist any sensor that …

Most existing methods for satellite attitude control assume that full knowledge of satellite
attitude is available by algebraic manipulation of at least two vector measurements from …

Set-point regulation and tracking control of a rigid body is considered. The rigid body, which
could be a spacecraft, underwater vehicle, or unmanned aerial vehicle, is equipped with …

The problem of rigid-body attitude tracking is examined for the case in which there is an
unknown gyro bias, and vector attitude measurements are used that necessitate estimation …

This paper deals with the attitude estimation and control problems for rigid bodies, using
inertial vector measurements. First, we revisit the attitude estimation algorithm on SO (3) that …

In this paper, a novel nonlinear hierarchical controller for attitude control is proposed. This
controller is obtained using Lyapunov methodology. Model uncertainties in the system are …

THE attitude control of a rigid body is a technically rich and extensively studied subject, and
a wide range of control solutions (linear, nonlinear, adaptive, observer-based, etc.) exist for …

This paper presents a new adaptive attitude tracking controller for rigid body systems, with
unknown inertia and unknown gyro-bias, using inertial vector measurements. The proposed …