Euler angle based feedback control of large eigenaxis rotations in the presence of singularities and model uncertainty

This paper investigates the problem of attitude control of a rigid-body. The main contribution is the design of an attitude controller based on the Euler angle representation. The inherent singularity problem is tackled via the Singularity-Consistent method developed previously for robot end-link tracking control in the vicinity of kinematic singularities. It is shown that the controller guarantees almost global exponential stability. Numerical simulations are provided to illustrate the performance and show the effectiveness of the proposed controller for large angle eigenaxis attitude maneuvers.