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An attitude of a rigid body is defined on SO(3); the fact leads to problems on attitude control of a rigid body. We propose a new discontinuous control law for globally asymptotic stabilization of the attitude of the rigid body by minimum projection method. We prove that the system always has Carathéodory solutions under our control method. Moreover, we show an advantage of the proposed method over quaternion-based hybrid feedback.

Attitude Stabilization of Rigid Body by Using Minimum Projection Method