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

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dc.contributor.authorWang, Xiangke
dc.contributor.authorYu, Changbin (Brad)
dc.coverage.spatialMilano Italy
dc.date.accessioned2015-12-10T23:15:55Z
dc.date.createdAugust 28-September 1 2011
dc.date.issued2011
dc.date.updated2016-02-24T10:56:47Z
dc.description.abstractThis 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 body-frame is derived. The proposed control scheme can deal with rotation and translation simultaneously and preserve the interconnection between rotation and translation with compact form. Simulation results based on USARSim platform and quadrotor are provided to demonstrate the effectiveness of the proposed control scheme.
dc.identifier.isbn9783902661937
dc.identifier.urihttp://hdl.handle.net/1885/64842
dc.publisherInternational Federation of Automatic Control (IFAC)
dc.relation.ispartofseriesIFAC World Congress 2011
dc.sourceIFAC World Congress 2011 proceedings
dc.subjectKeywords: Control schemes; Discrete form; Dual quaternion; Generalized PID; Incremental form; Kinematic control; Nonsingularity; Quadrotors; Rigid body transformation; Three term control systems Discrete form; Incremental form; PID control scheme; Transformation control; Unit dual quaternion
dc.titleUnit-Dual-Quaternion-Based PID Control Scheme for Rigid-Body Transformation
dc.typeConference paper
local.bibliographicCitation.lastpage9301
local.bibliographicCitation.startpage9296
local.contributor.affiliationWang, Xiangke, College of Engineering and Computer Science, ANU
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.authoruidWang, Xiangke, u4742678
local.contributor.authoruidYu, Changbin (Brad), u4168516
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor091303 - Autonomous Vehicles
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.absseo810105 - Intelligence
local.identifier.absseo810103 - Command, Control and Communications
local.identifier.ariespublicationu4334215xPUB1007
local.identifier.doi10.3182/20110828-6-IT-1002.02284
local.identifier.scopusID2-s2.0-84866758193
local.type.statusPublished Version

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