Multimode laws of control of rigid body motions

The problem of control of motion of a rigid body (aircraft, satellite, or landing module) is studied. A multimode control law that can stabilize not only one prescribed motion of the body but any motion in a sufficiently broad class is constructed. The problem is solved in nonlinear setting under indeterminacy conditions on the basis of Lyapunov functions. The control law is constructed in the class of bounded discontinuous laws, special zero-overshoot response modes are constructed, and the specific character of mechanical systems is used.