How to avoid singularity when using Euler angles?

In this paper, an algorithm is proposed to avoid singularity associated with the most famous minimum element attitude parametrization, Euler angle set. The proposed algorithm makes use of the method of sequential rotation to avoid singularity associated with Euler angle set. Further, a switching algorithm is also proposed to switch between different Euler angle sets to avoid the singularity while integrating the kinematic equations corresponding to Euler angles for spacecraft motion. The algorithm is numerically validated by simulation tests.