Hybrid kinematic control for rigid body pose stabilization using dual quaternions

DOI10.1016/J.JFRANKLIN.2017.01.028zbMath1364.93683arXiv1701.08031OpenAlexW2584800277WikidataQ59889065 ScholiaQ59889065MaRDI QIDQ2356825

Luis F. C. Figueredo, Hugo T. M. Kussaba, Bruno V. Adorno, João Yoshiyuki Ishihara

Publication date: 7 June 2017

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1701.08031

zbMATH Keywords

closed-loop systemglobal asymptotic stabilityswitching controldual quaternion formalismrigid body pose stabilization

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Asymptotic stability in control theory (93D20) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Related Items (4)

Robust \(H_\infty\) kinematic control of manipulator robots using dual quaternion algebra ⋮ Functional calculus for dual quaternions ⋮ Solution of an inverse kinematics problem using dual quaternions ⋮ Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Cites Work

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• On the comparisons of unit dual quaternion and homogeneous transformation matrix
• The geometric structure of unit dual quaternion with application in kinematic control
• Control theory on Lie groups
• Unit dual quaternion-based feedback linearization tracking problem for attitude and position dynamics
• Introduction to Smooth Manifolds
• Geometric Fundamentals of Robotics
• Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
• Hybrid dynamical systems
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

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