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The notion of feedback integrators permits Euclidean integration schemes fordynamical systems evolving on manifolds. Here, a constructive Lyapunov functionfor the attitude dynamics embedded in an ambient Euclidean space has beenproposed. We then combine the notion of feedback integrators with the proposedLyapunov function to obtain a feedback law for the attitude control system. Thecombination of the two techniques yields a domain of attraction for the closedloop dynamics, where earlier contributions were based on linearization ideas.Further, the analysis and synthesis of the feedback scheme is carried outentirely in Euclidean space. The proposed scheme is also shown to be robust tonumerical errors.

Lyapunov-like functions for attitude control via feedback integrators