In the large certainty equivalence control with quaternion measurements

In this paper, we solve the in the large control problem of rigid bodies with quaternion measurements only, by applying any hybrid certainty equivalence tracking controller satisfying a set of certain assumptions, along with a in the large hybrid nonlinear velocity observer, by using theory of cascades. Strictly speaking, we show that the origin of the class of proposed controllers in closed loop with the observer is uniformly asymptotically stable in the large¹, i.e. for all available initial conditions associated with the quaternion space. Simulation results for the proposed scheme are presented with the particular case of the PD+ controller, showing that all states converge as expected from our theoretical findings.