Structure preserving reduced attitude control of gyroscopes

We design a reduced attitude controller for reorienting the spin axis of gyroscope in geometric control framework. The proposed preserves inherent gyroscopic stability associated with spinning axis-symmetric rigid body. equations motion are derived two frames: non-spinning frame to show stability, and body-fixed deriving controller. is designed such that it retains structure closed loop renders desired equilibrium almost-globally asymptotically stable. Due time-critical nature input, particular its sensitivity respect delays/neglected dynamics, extended incorporate effect actuator dynamics practical implementation. Thereafter, comparison performance shown between conventional numerical simulation. validated experimentally on tricopter.