Dual-quaternion-based variable structure control: A new approach and application

Hui Zhang; Xiangke Wang; Dapeng Han

doi:10.1007/978-3-642-16587-0_8

Dual-quaternion-based variable structure control: A new approach and application

Hui Zhang^*, Xiangke Wang, Dapeng Han

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

Dual quaternion is a more efficient tool without singularity to describe rigid-body transformation than other tools, such as homogeneous transformation matrix. In this paper, we propose a new variable structure control (VSC) based on unit dual quaternion Lie-group for the transformation of rigid-bodies in configuration space. We set up the dynamic model of the rigid-body motion represented by unit dual quaternion after the geometric structure of dual quaternion is revealed, and then propose a new unit-dual-quaternion-based VSC controller, including a new switching function and a new reaching law. At last, the proposed controller is specified into the configuration space of planar robot and applied with the dynamic model of the NuBot omni-directional mobile robot in simulation to show its effectiveness.

Original language	English
Title of host publication	Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
Pages	75-86
Number of pages	12
Edition	PART 2
DOIs	https://doi.org/10.1007/978-3-642-16587-0_8
Publication status	Published - 2010
Event	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 - Shanghai, China Duration: 10 Nov 2010 → 12 Nov 2010

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	6425 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
Country/Territory	China
City	Shanghai
Period	10/11/10 → 12/11/10

Access to Document

10.1007/978-3-642-16587-0_8

Cite this

Zhang, H., Wang, X., & Han, D. (2010). Dual-quaternion-based variable structure control: A new approach and application. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings (PART 2 ed., pp. 75-86). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6425 LNAI, No. PART 2). https://doi.org/10.1007/978-3-642-16587-0_8

Zhang, Hui ; Wang, Xiangke ; Han, Dapeng. / Dual-quaternion-based variable structure control : A new approach and application. Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 2. ed. 2010. pp. 75-86 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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title = "Dual-quaternion-based variable structure control: A new approach and application",

abstract = "Dual quaternion is a more efficient tool without singularity to describe rigid-body transformation than other tools, such as homogeneous transformation matrix. In this paper, we propose a new variable structure control (VSC) based on unit dual quaternion Lie-group for the transformation of rigid-bodies in configuration space. We set up the dynamic model of the rigid-body motion represented by unit dual quaternion after the geometric structure of dual quaternion is revealed, and then propose a new unit-dual-quaternion-based VSC controller, including a new switching function and a new reaching law. At last, the proposed controller is specified into the configuration space of planar robot and applied with the dynamic model of the NuBot omni-directional mobile robot in simulation to show its effectiveness.",

author = "Hui Zhang and Xiangke Wang and Dapeng Han",

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Zhang, H, Wang, X & Han, D 2010, Dual-quaternion-based variable structure control: A new approach and application. in Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 6425 LNAI, pp. 75-86, 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010, Shanghai, China, 10/11/10. https://doi.org/10.1007/978-3-642-16587-0_8

Dual-quaternion-based variable structure control: A new approach and application. / Zhang, Hui; Wang, Xiangke; Han, Dapeng.
Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 2. ed. 2010. p. 75-86 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6425 LNAI, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Dual quaternion is a more efficient tool without singularity to describe rigid-body transformation than other tools, such as homogeneous transformation matrix. In this paper, we propose a new variable structure control (VSC) based on unit dual quaternion Lie-group for the transformation of rigid-bodies in configuration space. We set up the dynamic model of the rigid-body motion represented by unit dual quaternion after the geometric structure of dual quaternion is revealed, and then propose a new unit-dual-quaternion-based VSC controller, including a new switching function and a new reaching law. At last, the proposed controller is specified into the configuration space of planar robot and applied with the dynamic model of the NuBot omni-directional mobile robot in simulation to show its effectiveness.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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Zhang H, Wang X, Han D. Dual-quaternion-based variable structure control: A new approach and application. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 2 ed. 2010. p. 75-86. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-642-16587-0_8

Dual-quaternion-based variable structure control: A new approach and application

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