{"ID":2826411,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.19846","arxiv_id":"2512.19846","title":"A Class of Axis-Angle Attitude Control Laws for Rotational Systems","abstract":"We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \\mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory and the notion of extended class $\\mathcal{K}$ function, we developed a method for determining and enforcing the global asymptotic stability of the single fixed point of the resulting \\mbox{\\textit{closed-loop}} (CL) scheme. In contrast with traditional \\mbox{quaternion-based} methods, the introduced generalized \\mbox{axis--angle} approach enables greater flexibility in the design of the control law, which is of great utility when employed in combination with a switching scheme whose transition state depends on the angular velocity of the controlled rotational system. Through simulation and \\mbox{real-time} experimental results, we demonstrate the effectiveness of the developed formulation. According to the recorded data, in the execution of \\mbox{high-speed} \\mbox{tumble-recovery} maneuvers, the new method consistently achieves shorter stabilization times and requires lower control effort relative to those corresponding to the \\mbox{quaternion-based} and \\mbox{geometric-control} methods used as benchmarks.","short_abstract":"We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \\mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory and the notion of extended class $\\mathcal{K}$ function, we developed a method f...","url_abs":"https://arxiv.org/abs/2512.19846","url_pdf":"https://arxiv.org/pdf/2512.19846v2","authors":"[\"Francisco M. F. R. Gonçalves\",\"Ryan M. Bena\",\"Néstor O. Pérez-Arancibia\"]","published":"2025-12-22T20:01:30Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[]","has_code":false}