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A Dual-quaternion Method for Control of Spatial Rigid Body

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3 Author(s)
Dapeng Han ; College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, Hunan Province, CO 410073 China. phone: 86-731-4574990; e-mail: ; Qing Wei ; Zexiang Li

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.

Published in:

Networking, Sensing and Control, 2008. ICNSC 2008. IEEE International Conference on

Date of Conference:

6-8 April 2008