Robust attitude control via quaternion feedback linearization

In this paper, a robust control scheme via quaternion feedback linearization is proposed, which can be used for efficient attitude control of the tactical missiles with thrust vector control (TVC). The proposed controller consists of a nominal control part and a robust control part. The nominal control part concerns with a pure feedback linearization and the robust control part is for robustness of the entire controller to the modeling uncertainties. It is shown that in the presence of uncertainties the proposed control law makes the closed-loop system globally asymptotically stable. The performance of the proposed controller is compared with an existing scheme through computer simulations.