??? Quaternions ???

Hi all,

I am trying to apply PID control on the yaw, pitch and roll angles of
my aircraft to keep it in a desired orientation. However, this
orientation is for a pitch angle of theta=90 degrees -> GIMBAL LOCK!!
To avoid this, I obviously have to use quaternions. However, my
problem is once I have the aircraft attitude information in quaternion
form, how can I apply PID control to that quaternion in order to keep
the aircraft at a specific attitude (e.g. yaw=0, pitch=90, roll=0
degrees)?

Can I apply the "Derivation of Quaternion Error Angles" and still avoid
gimbal lock (see page 120 of:
www.ae.gatech.edu/~ejohnson/Thesis-repro.pdf for more information)?

Thanks in advance,
-Bill

.

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