Feedback control of rigid body attitude with inclinometer and low-cost gyro measurements

In our paper, we consider the state regulation problem for the nonlinear kinematic equations and Euler equations of a rigid body observed under low-pass sensors. This problem is motivated by the corresponding state estimation problem covered in recent literature on walking robots and virtual reality gadgets. We show the existence of a feedback controller for the dynamics that provides reliable performance without making any small angle assumptions or placing bounds on angular rates.