Controller Class for Rigid Body Tracking on $\mathsf {SO}(3)$

In this article, we propose a novel family of Lie algebra valued functions
F
_R
on special orthogonal group SO(3). Each function belonging to this family induces a novel controller that stabilizes a rigid body attitude. All controllers induced by the family
F
_R
form a controller class
C
_R
. This novel controller class
C
_R
contains both local and almost-global asymptotically stable controllers, and this article presents geometric stability results of the whole controller class
C
_R
.