This paper addresses the attitude tracking of a rigid body using a quaterniondescription. Global finite-time attitude controllers are designed with threetypes of measurements, namely, full states, attitude plus constant-biasedangular velocity, and attitude only. In all three scenarios hybrid controltechniques are utilized to overcome the well-known topological constraint onthe attitude manifold, while coupled nonsmooth feedback inputs are designed viahomogeneous theory to achieve finite-time stability. Specially, a finite-timebias observer is derived in the second scenario and a quaternion filter isconstructed to provide damping in the absence of velocity feedback. Theproposed methods ensure bounded control torques a priori and, in particular,include several existing attitude controllers as special cases.
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