  In this paper, the attitude tracking problem is considered using the rotation
matrices. Due to the inherent topological restriction, it is impossible to
achieve global attractivity with any continuous attitude control system on
$SO(3)$. Hence in this work, we propose some control protocols achieve almost
global tracking asymptotically and in finite time, respectively. In these
protocols, no world frame is needed and only relative state informations are
requested. For finite-time tracking case, Filippov solutions and non-smooth
analysis techniques are adopted to handle the discontinuities. Simulation
examples are provided to verify the performances of the control protocols
designed in this paper.
