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This paper presents global tracking strategies for the attitude dynamics of arigid body. It is well known that global attractivity is prohibited forcontinuous attitude control systems on the special orthogonal group. Suchtopological restriction has been dealt with either by constructing smoothattitude control systems that exclude a set of measure zero in the region ofattraction, or by introducing hybrid control systems to obtain globalasymptotic stability. This paper proposes alternative attitude control systemsthat are continuous in time to achieve exponential stability, where the regionof attraction covers the entire special orthogonal group. The main contributionof this paper is providing a new framework to overcome the topologicalrestriction in attitude controls without relying on discontinuities through thecontrolled maneuvers. The efficacy of the proposed methods is illustrated bynumerical simulations and experiments.

Semi-Global Attitude Controls Bypassing the Topological Obstruction on SO(3)