Quaternion-Based Bang-Bang Attitude Stabilizer for Rotating Rigid Bodies

The hybrid feedback is modified so as to take full advantage of the quaternion parametrization of the spacecraft attitude. The controller achieves practical stabilization of the spacecraft attitude assuming the full nonlinear dynamics of the spacecraft, while avoiding chattering and high-frequency switching of the actuators. An extensive Monte Carlo numerical analysis indicates that the result might be global. the attitude controller is the first bang-bang feedback controller with guaranteed stability properties and guaranteed bounded switching frequency, even in the presence of measurement noise.