This paper investigates the attitude
constrained control of a rigid body via Explicit Reference Governor (ERG)on the special orthogonal matrix group SO(3). The goal of this paper is to design a control scheme which is able to steer the attitude of the rigid body to the desired attitude reference while enforcing geometric conic pointing constraints, at all times. The first step is to design a stabilizing controller when constraints are neglected. Then, the proposed control scheme is augmented with an ERG to add constraint-handling capabilities to the pre-stabilized system. Finally, numerical simulations are conducted to show the effectiveness of the proposed control scheme.
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