Abstract
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to track a smooth attitude trajectory in a finite/fixed time. A global settling time estimate is obtained, which is easily adjustable by tuning the homogeneity degree. The input-to-state stability of the control system with respect to measurement noises and additive perturbations is studied. Simulations illustrating the performance of the proposed algorithm are presented.
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