發送短信 : Rigid-body attitude stabilization with attitude and angular rate constraints

  ____      _____    ______     ______   _    _   
 |  _ \\   |  ___|| |      \\  /_   _// | |  | || 
 | |_| ||  | ||__   |  --  //   -| ||-  | |/\| || 
 | .  //   | ||__   |  --  \\   _| ||_  |  /\  || 
 |_|\_\\   |_____|| |______//  /_____// |_// \_|| 
 `-` --`   `-----`  `------`   `-----`  `-`   `-`