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We address the problem of attitude stabilization of a rigid body, in whichneither the angular velocity nor the instantaneous measurements of the attitudeare used in the feedback, only body vector measurements are needed. The designof the controller is based on an angular velocity observer-like system, where afirst order linear auxiliary system based directly on vector measurements isintroduced. The introduction of gain matrices provides more tuning flexibilityand better results compared with existing works. The proposed controllerensures almost global asymptotic stability. The performance and effectivenessof the proposed solution are illustrated via simulation results where the gainsof the controller are adjusted using non linear optimization.

Inertial Vector Based Attitude Stabilization of Rigid Body Without Angular Velocity Measurements