A Dual Quaternion Solution to Attitude and Position Control for Rigid-Body Coordination
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]
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|Source:||IEEE Transactions on Robotics|
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