LAUSR

This paper addresses robust attitude tracking by considering bounded external disturbances and uncertain inertia matrix. Rotation vector is adopted for attitude representation. On this basis, controller design is addressed for robust unwinding-free attitude tracking using a backstepping procedure based on similar skew-symmetric structure. A variable gain is included in the disturbance compensation term to enhance tracking precision with limited control strength. Compared with the related research works, the derived controller has a simple structure and a high computation effectiveness. Furthermore, the attitude tracking precision is prominently improved with limited control amplitude by introducing a variable gain in the proposed controller.