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Dual-quaternion-based variable structure control: A new approach and application

Zhang, Hui; Wang, Xiangke; Han, Dapeng


Dual quaternion is a more efficient tool without singularity to describe rigid-body transformation than other tools, such as homogeneous transformation matrix. In this paper, we propose a new variable structure control (VSC) based on unit dual quaternion Lie-group for the transformation of rigid-bodies in configuration space. We set up the dynamic model of the rigid-body motion represented by unit dual quaternion after the geometric structure of dual quaternion is revealed, and then propose a...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Conference paper
Source: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
DOI: 10.1007/978-3-642-16587-0_8


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