A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments

A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 2 December 2025 V1 Latest version Share on A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments Authors : Francisco M. F. R. Goncalves 0009-0001-4964-8970 [email protected] , Ryan M Bena , and Néstor O Pérez-Arancibia Authors Info & Affiliations https://doi.org/10.22541/au.176463804.43910626/v1 106 views 72 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract Over the past few decades, continuous quaternionbased attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this approach do not enforce the existence of a unique closed-loop (CL) equilibrium attitude-error quaternion (AEQ); and, for rotational errors about the attitude-error Euler axis larger than π rad, their proportional-control effect diminishes as the system state moves away from the stable equilibrium of the CL rotational dynamics. In this paper, we introduce a new type of attitude control law that more effectively leverages the attitude-error Euler axis-angle information to guarantee a unique CL equilibrium AEQ and to provide greater flexibility in the use of proportional-control efforts. Furthermore, using two different control laws as examplesthrough the construction of a strict Lyapunov function for the CL dynamics-we demonstrate that the resulting unique equilibrium of the CL rotational system can be enforced to be uniformly asymptotically stable. To assess and demonstrate the functionality and performance of the proposed approach, we performed numerical simulations and executed dozens of real-time tumble-recovery maneuvers using a small quadrotor. These simulations and flight tests compellingly demonstrate that the proposed axis-angle-based method achieves superior flight performance-compared with that obtained using a high-performance quaternion-based controller-in terms of stabilization time. Supplementary Material File (manuscript4.pdf) Download 1.06 MB Information & Authors Information Version history V1 Version 1 02 December 2025 Copyright This work is licensed under a Non Exclusive No Reuse License. Keywords attitude control axis–angle representation closed-loop equilibrium lyapunov stability quaternion rigid-body rotational systems Authors Affiliations Francisco M. F. R. Goncalves 0009-0001-4964-8970 [email protected] View all articles by this author Ryan M Bena View all articles by this author Néstor O Pérez-Arancibia View all articles by this author Metrics & Citations Metrics Article Usage 106 views 72 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation Francisco M. F. R. Goncalves, Ryan M Bena, Néstor O Pérez-Arancibia. A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments. Authorea . 02 December 2025. DOI: https://doi.org/10.22541/au.176463804.43910626/v1 If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download. For more information or tips please see 'Downloading to a citation manager' in the Help menu . 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