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Conference Papers Year : 2021

Continuous quaternion based almost global attitude tracking


This paper considers the attitude control problem of a generic rotating 3 degrees of freedom fully actuated rigid object. The specific studied problem is the deviation control of this object around a theoretically feasible attitude trajectory. The rotation motion has an intrinsic non linear behaviour (trigonometric, 2π-periodicity) that need to build non linear and hybrid controllers to get global stability of the closed loop system. This paper considers the opportunity to use the quaternion framework to build a continuous non linear state feedback that reaches an almost global asymptotical stability. Some perspectives to enhance this result with integrators to cancel out static and drag errors are eventually proposed.
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Dates and versions

hal-03118544 , version 1 (22-01-2021)
hal-03118544 , version 2 (01-07-2021)


  • HAL Id : hal-03118544 , version 2


Thomas Conord, Dimitri Peaucelle. Continuous quaternion based almost global attitude tracking. IEEE Conference on Control Technology and Applications (CCTA 2021), Aug 2021, San Diego, United States. ⟨hal-03118544v2⟩
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