law for the attitude control system with unknown inertia matrix such that the attitude and the angular velocities can be globally asymptotically stabilized to a set consisting of two equilibria. And then, based on the obtained backstepping adaptive law, the authors consider the case that the angular velocities are not measurable. By introducing an auxiliary state, a semi-global adaptive set stabilization law without angular velocity measurements is also designed.

It is rigorously proved that, for the two cases, both of the closed loop systems

satisfy the set stability. The effectiveness of the proposed methods is verified by simulation results. %U https://sysmath.cjoe.ac.cn/jssc/CN/10.1007/s11424-011-8214-1