Design of an exact nonlinear model follower for the control of large angle rotational maneuvers

The rigid body attitude control problem with external torques is transformed into equivalent linear form implementable by three double integrators. The linearizing transformations themselves are formulated in vector algebra, requiring no integrators for implementation. It is thereby shown that optimal command generation for fast slewing maneuvers can be carried out exactly in the transformed systems, together with regulator design without gain scheduling for correction of unmodelled disturbances.