A Dual-quaternion Method for Control of Spatial Rigid Body
Abstract
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.
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The stability of the closed-loop system defined by the logarithmic controller is discussed in [22].
“The stability of such a system is discussed in [22].”
From Dual Quaternion-Based Visual Servoing for Grasping Moving Objects (2021) · cites this paper as [22]
Cites
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Dual Quaternion-Based Visual Servoing for Grasping Moving Objects
De Farias, C., Adjigble, M., Tamadazte, B., Stolkin, R., & Marturi, N. (2021) · 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) · doi:10.1109/case49439.2021.9551631 · Cited by 1 · see citing works
“The stability of such a system is discussed in [22].”
Background
- Authors
- Han, D., Wei, Q., & Li, Z.
- Affiliations
- National University of Defense Technology (CN)
- Hong Kong University of Science and Technology (HK)
- ORCID
- Venue
- 2008 IEEE International Conference on Networking, Sensing and Control
- Publisher
- IEEE
- Published
- 2008-04
- Pages
- 1-6
- OpenAlex
- W2113892994
- Cited by
- 20
- References
- 12
- Citations by year
- 2022: 1 · 2021: 3 · 2020: 1 · 2019: 2 · 2018: 4 · 2017: 3 · 2016: 1 · 2013: 3 · 2012: 1
- FWCI
- 0.57
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE International Conference on Networking, Sensing and Control (ICNSC) (publishedVersion)
- Rare & Special e-Zone (The Hong Kong University of Science and Technology) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Stability of Dynamical Systems
- Keywords
- dual quaternions, regulation problem, trajectory tracking
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