Hybrid kinematic control for rigid body pose stabilization using dual quaternions
نویسندگان
چکیده
منابع مشابه
Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hysteresis in such a way that the global asymptotic stability of the closed-loop system is guaranteed and such that the global attractivity of the stabilization pose does not exhibit chattering, a problem that is present...
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ژورنال
عنوان ژورنال: Journal of the Franklin Institute
سال: 2017
ISSN: 0016-0032
DOI: 10.1016/j.jfranklin.2017.01.028