Specified Finite Time Attitude Stabilization for Rigid Body on SO(3)

This paper addresses the problem of specified finite time attitude stabilization for rigid body whose kinematic is modeled on Special Orthogonal group SO(3), which can describe the attitude globally and uniquely, respectively. By virtue of time-rescaling approach, the transformation systems are proposed and the specified finite time control law can be derived from the transformation systems. Inspired by the backstepping approach, a finite time based specified finite time control law is proposed and removes the phenomenon of unbounded control torque if an inapposite time-rescaling function is chosen. Finally, the SimMechanics simulations show that the theoretical results of specified finite time attitude stabilization have good performance.