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   https://doi.org/10.3390/electronics11182821  

   Eslamiat, Hossein; Wang, Ningshan; Hamrah, Reza; Sanyal, Amit K. (September 2022, Electronics)

   This article proposes a novel integral geometric control attitude tracking scheme, utilizing a coordinate-free representation of attitude on the Lie group of rigid body rotations, SO(3). This scheme exhibits almost global asymptotic stability in tracking a reference attitude profile. The stability and robustness properties of this integral tracking control scheme are shown using Lyapunov stability analysis. A numerical simulation study, utilizing a Lie Group Variational Integrator (LGVI), verifies the stability of this tracking control scheme, as well as its robustness to a disturbance torque. In addition, a numerical comparison study shows the effectiveness of the proposed geometric integral term, when compared to other state-of-the-art attitude controllers. In addition, software-in-the-loop (SITL) simulations show the advantages of utilizing the proposed attitude controller in PX4 autopilot compared to using PX4’s original attitude controller. 

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2. Neural-Adaptive Stochastic Attitude Filter on SO(3)

   https://doi.org/10.1109/LCSYS.2021.3123227  

   Hashim, Hashim A.; Abouheaf, Mohammed; Vamvoudakis, Kyriakos G. (January 2022, IEEE Control Systems Letters)
3. On the Observability of Attitude with Single Direction Measurements

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   Wang, Weixin; Gamagedara, Kanishke; Lee, Taeyoung (January 2022, IEEE Transactions on Automatic Control)
4. Attitude Observer on SO(3) with Time-Varying Reference Directions

   https://doi.org/10.23919/ECC.2019.8796126  

   Gamagedara, Kanishke; Lee, Taeyoung; Chang, Dong Eui (June 2019, European Control Conference)
5. Bayesian Attitude Estimation with Approximate Matrix Fisher Distributions on SO(3)

   https://doi.org/10.1109/CDC.2018.8619286  

   Lee, Taeyoung (December 2018, IEEE Conference on Decision and Control)