Distributed translation and attitude synchronization for multiple rigid bodies using dual quaternions

Yinqiu Wang, Fengmin Yu, Changbin Yu

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    Abstract

    In this paper, we investigate the distributed synchronization problem for multiple fully actuated rigid bodies without a leader. A new mathematical tool-dual quaternion is employed to design the distributed control law. The definition and some properties about dual quaternion are introduced. A distributed control law is proposed to control the attitude and translation of these rigid bodies simultaneously with notion concision and non-singularity. And the analysis based on dual quaternion is a unified solution for the attitude and translation. Finally, the proposed control algorithm is simulated to illustrate the theoretical results.

    Original languageEnglish
    Title of host publication2016 American Control Conference, ACC 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages7426-7431
    Number of pages6
    ISBN (Electronic)9781467386821
    DOIs
    Publication statusPublished - 28 Jul 2016
    Event2016 American Control Conference, ACC 2016 - Boston, United States
    Duration: 6 Jul 20168 Jul 2016

    Publication series

    NameProceedings of the American Control Conference
    Volume2016-July
    ISSN (Print)0743-1619

    Conference

    Conference2016 American Control Conference, ACC 2016
    Country/TerritoryUnited States
    CityBoston
    Period6/07/168/07/16

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