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The rigid-body attitude tracking using vector and biased gyro measurementswith unknown inertia matrix is studied in this note. First, a gyro-biasobserver with global exponential stability is designed. Then, an attitudetracking controller based on this observer is devised, ensuring almost globalasymptotic stability and almost semiglobal exponential stability. A separationproperty of the combined observer-controller is proved. Lastly, an adaptiveattitude tracking controller relying on a modified gyro-bias observer and withno over-parametrization is developed to deal with the unknown inertia matrix.The proposed control schemes require neither an explicit attituderepresentation nor any attitude estimation, but only the measurement of atleast two non-collinear known inertial reference vectors and biased gyro rate,which can be obtained by common low-cost IMU sensors. Simulations are includedto illustrate the proposed adaptive controller under noisy measurements.

Attitude Tracking for Rigid Bodies Using Vector and Biased Gyro Measurements