Unit rotation with AddTorque

Im trying to make algorithm where unit will be forced to rotate with help of AddTorque function.

And after a few iterations...Im stuck.

So, first of all Im calculating a angel between unit position and target.
After this Im memorising half of this angel to start braking after half of the rotate.

But, AddTorque works very strange - my unit starts spinning in other direction and rotates not only in one axis.
What wrong with this code?? Also I would like to make a small roll when unit is rotating (like a plane)

Code (CSharp):

1. if (canRotate)
2. {
3.    angle = Vector3.Angle(targetDestination, Vector3.forward);
4.    if (rotateBrakeAngel == 0)
5.       rotateBrakeAngel = angle/2;
6.    if (this.rigidbody.angularVelocity.magnitude < maxRotateVelocity)
7.       {
8.          Quaternion rotate = Quaternion.LookRotation(targetDestination);
9.          this.rigidbody.AddTorque(rotate.eulerAngles.normalized * currentEngineForce * Time.fixedDeltaTime);
10.     }
11.     else if (angle < rotateBrakeAngel)
12.     {
13.            Quaternion rotate = Quaternion.LookRotation(targetDestination);
14.            this.rigidbody.AddTorque( -rotate.eulerAngles.normalized * currentEngineForce * Time.fixedDeltaTime);
15.     }
16. }