The geometric structure of unit dual quaternion with application in kinematic control

DOI10.1016/J.JMAA.2012.01.016zbMath1401.93070OpenAlexW2091310900MaRDI QIDQ764976

Xiangke Wang, Dapeng Han, Changbin (Brad) Yu, Zhiqiang (Eric) Zheng

Publication date: 16 March 2012

Published in: Journal of Mathematical Analysis and Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jmaa.2012.01.016

zbMATH Keywords

logarithmic mappingkinematic controlLie-group structureunit dual quaternion

Mathematics Subject Classification ID

Geometric methods (93B27) Algebraic methods (93B25) Quaternion and other division algebras: arithmetic, zeta functions (11R52) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Related Items (8)

Generalized elliptical quaternions with some applications ⋮ Translation and attitude synchronization for multiple rigid bodies using dual quaternions ⋮ Nonlinear suboptimal synchronized control for relative position and relative attitude tracking of spacecraft formation flying ⋮ Functional calculus for dual quaternions ⋮ Dual split quaternions and Chasles' theorem in 3-dimensional Minkowski space ⋮ Dual number-based relative position and attitude coordinated control for multi-rigid-body system ⋮ On the comparisons of unit dual quaternion and homogeneous transformation matrix ⋮ Hybrid kinematic control for rigid body pose stabilization using dual quaternions

Cites Work

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• The attitude control problem
• Further passivity results for the attitude control problem
• Unit Quaternion-Based Output Feedback for the Attitude Tracking Problem

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