Skip navigation
Skip navigation

Unit-Dual-Quaternion-Based PID Control Scheme for Rigid-Body Transformation

Wang, Xiangke; Yu, Changbin (Brad)

Description

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]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
URI: http://hdl.handle.net/1885/64842
Source: IFAC World Congress 2011 proceedings
DOI: 10.3182/20110828-6-IT-1002.02284

Download

File Description SizeFormat Image
01_Wang_Unit-Dual-Quaternion-Based_PID_2011.pdf235.79 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  20 July 2017/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator