Feedback Linearization Regulator with Coupled Attitude and Translation Dynamics Based on Unit Dual Quaternion
Date
2010
Authors
Wang, Xiangke
Yu, Changbin (Brad)
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Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
The main contribution of this paper is the design of a unit dual quaternion-based attitude and position regulator. The dynamic model of rigid body represented by unit dual quaternion is derived firstly from the rotational and the translational dynamics. And then an output feedback regulator, which ensures asymptotical stability, is proposed using unit dual quaternion. To the best of our knowledge, this study is the first to relate dual quaternion to dynamic control of rigid body without requiring decoupling attitude and position. The simulation results are provided to verify the performance.
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Keywords
Keywords: Asymptotical stability; Dual quaternion; Dynamic controls; Output feedback; Rigid body; Simulation result; Translational dynamics; Intelligent control; Rigid structures; Feedback linearization
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Source
IEEE International Symposium on Intelligent Control 2010 proceedings
Type
Conference paper
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2037-12-31
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