Model independent eigenaxis maneuvers using quaternion feedback

The main contribution of the paper is the derivation of a model independent feedback control law that causes a rigid body to execute a near eigenaxis maneuver. The degree of approximation is a function of the control gains and the initial attitude error. Using passivity techniques, the dependence of the control strategy on velocity information is eliminated. The technique used to derive the control strategy is a novel orthogonal decomposition of the unit quaternion into a component along the direction of the eigenaxis and a component that is orthogonal to that direction