A Class of Axis-Angle Attitude Control Laws for Rotational Systems
Abstract
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler axis--angle representation beyond quaternion-based formulations. Using basic Lyapunov stability theory and the notion of extended class K function, we developed a method for determining and enforcing the global asymptotic stability of the single fixed point of the resulting closed-loop (CL) scheme. In contrast with traditional quaternion-based methods, the introduced generalized axis--angle approach enables greater flexibility in the design of the control law, which is of great utility when employed in combination with a switching scheme whose transition state depends on the angular velocity of the controlled rotational system. Through simulation and real-time experimental results, we demonstrate the effectiveness of the developed formulation. According to the recorded data, in the execution of high-speed tumble-recovery maneuvers, the new method consistently achieves shorter stabilization times and requires lower control effort relative to those corresponding to the quaternion-based and geometric-control methods used as benchmarks.
Turn this paper into a full lesson
ArcXiv compiles a staged curriculum from this paper: 8-12 lessons across beginner → advanced, synthesised section guides, visuals, flashcards, a quiz, exercises, and on-demand deep dives per section. Grounded in the abstract, never invented.