  This article develops and proposes a geometric nonlinear
proportional-integral-derivative (PID) type tracking control scheme on the Lie
group of rigid body rotations, SO(3). Like PD-type attitude tracking control
schemes that have been proposed in the past, this PID-type control scheme
exhibits almost global asymptotic stability in tracking a desired attitude
profile. The stability of this PID-type tracking control scheme is shown using
a Lyapunov analysis. A numerical simulation study demonstrates 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 integrator term.
