A Dual-quaternion Method for Control of Spatial Rigid Body

This paper presents a new formulation for control of spatial rigid bodies. After revealing the geometric structure of dual quaternions, logarithmic feedback are utilized to derive control laws in both kinematic design and dynamic design. The regulation problem and the tracking problem are tackled re...

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Bibliographic Details
Main Authors: Dapeng Han, Qing Wei, Zexiang Li
Format: Conference Proceeding
Language:English
Subjects:
Angular velocity
Automatic control
Automation
Equations
Feedback
Kinematics
Mechatronics
Motion control
Navigation
Quaternions
Online Access:Request full text
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Summary:This paper presents a new formulation for control of spatial rigid bodies. After revealing the geometric structure of dual quaternions, logarithmic feedback are utilized to derive control laws in both kinematic design and dynamic design. The regulation problem and the tracking problem are tackled respectively. Comparison with conventional methods together with simulation results are given to show the effectiveness of the new method.
DOI:10.1109/ICNSC.2008.4525172