Rigid-Body Attitude Control on $\mathsf{SO}(3)$ using Nonlinear Dynamic Inversion

Hafiz Zeeshan Iqbal Khan, Farooq Aslam, Muhammad Farooq Haydar +1

This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the ro…