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

             ___                 ___      _  __  
  ____      / _ \\      ___     / _ \\   | |/ // 
 |    \\   | / \ ||    /   ||  / //\ \\  | ' //  
 | [] ||   | \_/ ||   | [] || |  ___  || | . \\  
 |  __//    \___//     \__ || |_||  |_|| |_|\_\\ 
 |_|`-`     `---`       -|_|| `-`   `-`  `-` --` 
 `-`                     `-`