Skip navigation
Skip navigation

A Dual Quaternion Solution to Attitude and Position Control for Rigid-Body Coordination

Wang, Xiangke; Yu, Changbin (Brad); Lin, Zhiyun


This paper focuses on finding a dual quaternion solution to attitude and position control for multiple rigid body coordination. Representing rigid bodies in 3-D space by unit dual quaternion kinematics, a distributed control strategy, together with a specified rooted-tree structure, are proposed to control the attitude and position of networked rigid bodies simultaneously with notion concision and nonsingularity. A property called pairwise asymptotic stability of the overall system is then...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
Source: IEEE Transactions on Robotics
DOI: 10.1109/TRO.2012.2196310


File Description SizeFormat Image
01_Wang_A_Dual_Quaternion_Solution_to_2012.pdf983.3 kBAdobe PDF    Request a copy

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

Updated:  17 November 2022/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator