Control of Oriented Mechanical systems: A Method Based on Dual Quaternion
نویسندگان
چکیده
This paper focuses on a new type of control laws for oriented mechanical systems. The starting point is dual quaternion and its properties. Logarithm of dual quaternion is defined, based on which control laws are developed, tackling both regulation and tracking problems using logarithmic feedback. The control laws are shown to have several merits, including global asymptotically convergence, computational efficiency, and proper handling of the coupling between rotation and translation. Simulation results validate our design.
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