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Unit dual quaternion-based feedback linearization tracking problem for attitude and position dynamics

Wang, Xiangke; Yu, Changbin (Brad)


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]

CollectionsANU Research Publications
Date published: 2013
Type: Journal article
Source: Systems and Control Letters
DOI: 10.1016/j.sysconle.2012.11.019


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