  The attitude tracking problem for a full-actuated rigid body in 3D is studied
using a impulsive system model based on Lie algebra so(3). A nonlinear
homogeneous controller is designed to globally track a smooth attitude
trajectory in a finite or a (nearly) fixed time. A global settling time
estimate is obtained, which is easily adjustable by tuning the homogeneity
degree. The local input-to-state stability is proven. Simulations illustrating
the performance of the proposed algorithm are presented.
