Continuous quaternion based almost global attitude tracking

This paper considers the attitude control problem of a generic rotating 3 degrees of freedom fully actuated rigid object. The specific studied problem is the deviation control of this object around a theoretically feasible attitude trajectory. The rotation motion has an intrinsic non linear behaviour (trigonometric, $2 \pi$-periodicity) that need to build non linear and hybrid controllers to get global stability of the closed loop system. This paper considers the opportunity to use the quaternion framework to build a continuous non linear state feedback that reaches an almost global asymptotical stability. Some perspectives to enhance this result with integrators to cancel out static and drag errors are eventually proposed.