Further Passivity Results for the Attitude Control Problem
نویسنده
چکیده
In this paper we establish passivity for the system which describes the attitude motion of a rigid body in terms of minimal three dimensional kinematic parameters In partic ular we show that linear asymptotically stabilizing controllers and control laws without angular velocity measurements follow naturally from these passivity properties The results of this pa per extend similar results for the case of the nonminimal Euler parameters
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