Unit dual quaternion-based feedback linearization tracking problem for attitude and position dynamics
This paper provides a unified solution for the attitude and position tracking problem of a rigid body in 3-dimensional space, using the concept of the unit dual quaternion. The error dynamics described by a unit dual quaternion are deduced after the dual-quaternion-based dynamics of a single rigid body are given. Then by utilizing the feedback linearization principle, a unit dual quaternion based tracker is proposed based on the error dynamics, which is proven to render the equilibrium point of...[Show more]
|Collections||ANU Research Publications|
|Source:||Systems and Control Letters|
|01_Wang_Unit_dual_quaternion-based_2013.pdf||378.51 kB||Adobe PDF||Request a copy|
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