Title :
A Dual-quaternion Method for Control of Spatial Rigid Body
Author :
Han, Dapeng ; Wei, Qing ; Li, Zexiang
Author_Institution :
Nat. Univ. of Defense Technol., Changsha
Abstract :
This paper presents a new formulation for control of spatial rigid bodies. After revealing the geometric structure of dual quaternions, logarithmic feedback are utilized to derive control laws in both kinematic design and dynamic design. The regulation problem and the tracking problem are tackled respectively. Comparison with conventional methods together with simulation results are given to show the effectiveness of the new method.
Keywords :
PD control; distributed parameter systems; dynamics; feedback; kinematics; motion control; dual-quaternion method; dynamic design; geometric structure; kinematic design; logarithmic feedback; motion control; proportional-derivative laws; spatial rigid body control; Angular velocity; Automatic control; Automation; Equations; Feedback; Kinematics; Mechatronics; Motion control; Navigation; Quaternions;
Conference_Titel :
Networking, Sensing and Control, 2008. ICNSC 2008. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1685-1
Electronic_ISBN :
978-1-4244-1686-8
DOI :
10.1109/ICNSC.2008.4525172
