Feedback Linearization Regulator with Coupled Attitude and Translation Dynamics Based on Unit Dual Quaternion

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.