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Stability considerations in quaternion attitude control using discontinuous Lyapunov functions

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2 Author(s)
Fragopoulos, D. ; Dept. of Electr. Syst. & Autom., Pisa, Italy ; Innocenti, M.

Unit quaternions are a powerful tool for singularity free analysis and the control of arbitrary amplitude motion in a three-dimensional space. The authors present the use of proportional derivative quaternion feedback stabilisation for relative motion attitude control. Global asymptotic stability is guaranteed by defining a particular Lyapunov function and formal requirements are established. Conditions for a finite time control are also presented.

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Control Theory and Applications, IEE Proceedings -  (Volume:151 ,  Issue: 3 )