Author ORCID Identifier

Year of Publication


Degree Name

Doctor of Philosophy (PhD)

Document Type

Doctoral Dissertation




Mechanical Engineering

First Advisor

Dr. Jesse B. Hoagg


We present and analyze kinematic-level and dynamic-level feedback control algorithms for single agent attitude control and multi-agent attitude consensus on SO(3). The kinematic-level algorithms yield attitude feedback controls that are piecewise-continuous sinusoidal angular velocities. The dynamic-level algorithms yield attitude feedback controls that are relative angles of rotational-mass actuators, which are continuous but only piecewise continuously differentiable sinusoids. Furthermore, the dynamic-level algorithms are designed to accommodate actuator stroke constraint. We present application of the dynamic-level control algorithms to attitude control and consensus of small-satellites.

Digital Object Identifier (DOI)

Funding Information

This work is supported in part by the National Aeronautics and Space Administration Grant (no.: 80NSSC17M0040) from 2017 to 2021 and the National Science Foundation Grant (no.: CMMI-1538782) from 2016 to 2019.