Unit-Dual-Quaternion-Based PID Control Scheme for Rigid-Body Transformation
Wang, Xiangke; Yu, Changbin (Brad)
This paper proposes a unit-dual-quaternion-based PID control scheme for rigid-body transformation in 6 degree-of-freedom, taking advantage of the unit dual quaternion for its compactness, computational effectiveness and non-singularity in describing arbitrary rigid-body transformation globally. Both the discrete form and the incremental form of the generalized PID control scheme are obtained after a new kinematic control model for rigid-body transformation based on unit dual quaternion in...[Show more]
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|Source:||IFAC World Congress 2011 proceedings|
|01_Wang_Unit-Dual-Quaternion-Based_PID_2011.pdf||235.79 kB||Adobe PDF||Request a copy|
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