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In this paper, we investigate the finite-time attitude tracking control problem for a rigid spacecraft on the special orthogonal group ($SO(3)$). The exponential coordinates, derived from the exponential and logarithmic maps of Lie group, are utilized to describe the attitude tracking error on $SO(3)$ almost globally unique except for a zero measure set on which the logarithmic map is double valued...
This paper investigates the finite-time output feedback stabilization of rigid body attitude dynamics without velocity measurement on the special orthogonal group ( SO(3)). We first transform the stabilization problem on SO(3) into the stabilization issue on its Lie algebra ( so(3)) via the logarithm map. The proposed approach consists of exponential coordinates of SO(3) and the output of a nonlinear...
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