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This paper studies a rigid body attitude tracking control problem withattitude measurements only, when angular velocity measurements are notavailable. An angular velocity observer is constructed such that the estimatedangular velocity is guaranteed to converge to the true angular velocityasymptotically from almost all initial estimates. As it is developed directlyon the special orthogonal group, it completely avoids singularities,complexities, or discontinuities caused by minimal attitude representations orquaternions. Then, the presented observer is integrated with aproportional-derivative attitude tracking controller to show a separation typeproperty, where exponential stability is guaranteed for the combined observerand attitude control system.

Angular Velocity Observer on the Special Orthogonal Group for Velocity-Free Rigid-Body Attitude Tracking Control