  The chattering response at the MRP shadow set switching point for the
controlled attitude dynamics of a rigid tumbling spacecraft using delayed state
feedback control with MRPs is investigated, where the time delay is assumed to
be in the measurement of the state. In addition, a strategy to reduce or
completely avoid the chattering phenomena using a hysteretic boundary layer
switching rule is employed. Simulations are performed to demonstrate the
chattering phenomenon and the advantages of the modified MRP shadow set
switching rule.
