TY - JOUR
T1 - A dual quaternion solution to attitude and position control for rigid-body coordination
AU - Wang, Xiangke
AU - Yu, Changbin
AU - Lin, Zhiyun
PY - 2012
Y1 - 2012
N2 - This paper focuses on finding a dual quaternion solution to attitude and position control for multiple rigid body coordination. Representing rigid bodies in 3-D space by unit dual quaternion kinematics, a distributed control strategy, together with a specified rooted-tree structure, are proposed to control the attitude and position of networked rigid bodies simultaneously with notion concision and nonsingularity. A property called pairwise asymptotic stability of the overall system is then analyzed and validated by an example of seven quad-rotor formation in the Urban Search And Rescue Simulation (USARSim) platform. As a separate but related issue, a maximum depth condition of the rooted tree is found with respect to error accumulation along each path using dual quaternion algebra, such that a given safety bound on attitude and position errors can be satisfied.
AB - This paper focuses on finding a dual quaternion solution to attitude and position control for multiple rigid body coordination. Representing rigid bodies in 3-D space by unit dual quaternion kinematics, a distributed control strategy, together with a specified rooted-tree structure, are proposed to control the attitude and position of networked rigid bodies simultaneously with notion concision and nonsingularity. A property called pairwise asymptotic stability of the overall system is then analyzed and validated by an example of seven quad-rotor formation in the Urban Search And Rescue Simulation (USARSim) platform. As a separate but related issue, a maximum depth condition of the rooted tree is found with respect to error accumulation along each path using dual quaternion algebra, such that a given safety bound on attitude and position errors can be satisfied.
KW - Attitude and position
KW - error accumulation
KW - multiple rigid-body coordination
KW - pairwise asymptotic stability (PAS)
KW - unit dual quaternion
UR - http://www.scopus.com/inward/record.url?scp=84867225509&partnerID=8YFLogxK
U2 - 10.1109/TRO.2012.2196310
DO - 10.1109/TRO.2012.2196310
M3 - Article
SN - 1552-3098
VL - 28
SP - 1162
EP - 1170
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 5
M1 - 6218785
ER -