TY - GEN
T1 - Distributed translation and attitude synchronization for multiple rigid bodies using dual quaternions
AU - Wang, Yinqiu
AU - Yu, Fengmin
AU - Yu, Changbin
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84992064866&partnerID=8YFLogxK
U2 - 10.1109/ACC.2016.7526845
DO - 10.1109/ACC.2016.7526845
M3 - Conference contribution
T3 - Proceedings of the American Control Conference
SP - 7426
EP - 7431
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -