Exponential control of equilibrium positions of a rigid body using quaternions. - Awad El-Gohary; Ebrahim R. Elazab (Appl. Math. Comput., 2002)

Exponential control of a rotational motion of a rigid body using quaternions. - Awad El-Gohary; Ebrahim R. Elazab (Appl. Math. Comput., 2003)