Skip to content
Switch branches/tags
Go to file

Latest commit


Git stats


Failed to load latest commit information.
Latest commit message
Commit time

2016 ACC paper on constrained attitude control.

Work started at AFRL 2015 Space Scholars.

To regenerate the figures for publications

You need the matlab code located at:

Configuration Error Function visualization:

run log_barrier.m to make the surface plots for the \Psi

Go to commit a4e97e069d475b1760d61db2d46c1157281afe1c to make sure the constants are setup properly

Attitude Stabilization without adaptive update law:

run coupled_control_driver.m and then run plot_outputs.m to generate the simulation plots used in both ACC/IJCAS submission

This is also using commit a4e97e069d475b1760d61db2d46c1157281afe1c

Attitude Stabilization with adaptive update law:

run coupled_control_driver.m and then run plot_outputs.m or draw_cad to generate the plots. There's a flag in load_constants to create animations or a video

Go to commit 6f5604a9db17ee67b019dac6daa1807e5ed3c6d5 to ensure the constants are setup properly

Constrained Attitude stabilization experiment:

Run Data_analysis.m to read 20150924_avoid3.txt to generate the experimental results

The repository holding the experimental data is located at

The commit is 6f5604a9db17ee67b019dac6daa1807e5ed3c6d5

This calls load_experiment_constants and plot_experiment_constants


Creative Commons License
Geometric Adaptive Control of Attitude Dynamics on SO(3) with State Inequality Constraints by Shankar Kulumani, Christopher Poole, and Taeyoung Lee is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Based on a work at
Permissions beyond the scope of this license may be available at


2016 ACC manuscript



No releases published


No packages published