A quaternion-based adaptive attitude tracking controller without velocity measurements

B. T. Costic, D. M. Dawson, M. S. De Queiroz, V. Kapila

Research output: Contribution to journalArticlepeer-review


The main problem addressed in this paper is the quaternion-based, attitude tracking control of rigid spacecraft without angular velocity measurements and in the presence of an unknown inertia matrix. As a stepping-stone, we first design an adaptive, full-state feedback controller that compensates for parametric uncertainty while ensuring asymptotic attitude tracking errors. The adaptive, full-state feedback controller is then redesigned such that the need for angular velocity measurements is eliminated. The proposed adaptive, output feedback controller ensures asymptotic attitude tracking.

Original languageEnglish (US)
Pages (from-to)2424-2429
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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