A Passivity Approach to Attitude Stabilization Using Nonredundant Kinematic Parameterizations
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چکیده
In a recent paper we showed that there exist linear controllers which globally asymptotically stabilize the attitude motion of a rigid body using a nonredundant three dimensional set of kinematic parameters In this paper we show using the inherent passivity properties of the system that these results can be extended to stabilizing control laws without any angular velocity measurements A numerical example demonstrates the theoretical results
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تاریخ انتشار 1995