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Kinematic control of free rigid bodies using dual quaternions
| Content Provider | Semantic Scholar |
|---|---|
| Author | Han, Dapeng Wei, Qing Li, Zexiang |
| Copyright Year | 2008 |
| Abstract | This paper proposes a new type of control laws for free rigid bodies. The start point is the dual quaternion and its characteristics. The logarithm of a dual quaternion is defined, based on which kinematic control laws can be developed. Global exponential convergence is achieved using logarithmic feedback via a generalized proportional control law, and an appropriate Lyapunov function is constructed to prove the stability. Both the regulation and tracking problems are tackled. Omnidirectional control is discussed as a case study. As the control laws can handle the interconnection between the rotation and translation of a rigid body, they are shown to be more applicable than the conventional method. |
| Starting Page | 319 |
| Ending Page | 324 |
| Page Count | 6 |
| File Format | PDF HTM / HTML |
| DOI | 10.1007/s11633-008-0319-1 |
| Volume Number | 5 |
| Alternate Webpage(s) | https://page-one.springer.com/pdf/preview/10.1007/s11633-008-0319-1 |
| Alternate Webpage(s) | https://doi.org/10.1007/s11633-008-0319-1 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
