The attitude tracking problem for a full-actuated rigid body in 3D is studied using a system model based on Lie algebra . A nonlinear homogeneous controller is designed to track a smooth attitude trajectory in a finite/fixed time. A global settling time estimate is obtained, which is easily adjustable by tuning the homogeneity degree. The input-to-state stability of the control system with respect to measurement noises and additive perturbations is studied. Simulations illustrating the performance of the proposed algorithm are presented.

中文翻译：

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广义同质刚体姿态控制

使用基于李代数的系统模型研究了 3D 中全驱动刚体的姿态跟踪问题。非线性齐次控制器被设计为在有限/固定时间内跟踪平滑的姿态轨迹。获得全局稳定时间估计，可以通过调整均匀度轻松调整该时间。研究了控制系统相对于测量噪声和加性扰动的输入状态稳定性。仿真说明了所提出算法的性能。