Quaternion-Based Attitude Stabilization via Discrete-Time IDA-PBC

In this letter, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.