Feedback linearization regulator with coupled attitude and translation dynamics based on unit dual quaternion

Xiangke Wang; Changbin Yu

doi:10.1109/ISIC.2010.5612894

Feedback linearization regulator with coupled attitude and translation dynamics based on unit dual quaternion

Xiangke Wang^*, Changbin Yu

^*Corresponding author for this work

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

37 Citations (Scopus)

Abstract

The main contribution of this paper is the design of a unit dual quaternion-based attitude and position regulator. The dynamic model of rigid body represented by unit dual quaternion is derived firstly from the rotational and the translational dynamics. And then an output feedback regulator, which ensures asymptotical stability, is proposed using unit dual quaternion. To the best of our knowledge, this study is the first to relate dual quaternion to dynamic control of rigid body without requiring decoupling attitude and position. The simulation results are provided to verify the performance.

Original language	English
Title of host publication	2010 IEEE International Symposium on Intelligent Control, ISIC 2010
Pages	2380-2384
Number of pages	5
DOIs	https://doi.org/10.1109/ISIC.2010.5612894
Publication status	Published - 2010
Event	2010 IEEE International Symposium on Intelligent Control, ISIC 2010 - Yokohama, Japan Duration: 8 Sept 2010 → 10 Sept 2010

Publication series

Name	IEEE International Symposium on Intelligent Control - Proceedings

Conference

Conference	2010 IEEE International Symposium on Intelligent Control, ISIC 2010
Country/Territory	Japan
City	Yokohama
Period	8/09/10 → 10/09/10

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10.1109/ISIC.2010.5612894

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title = "Feedback linearization regulator with coupled attitude and translation dynamics based on unit dual quaternion",

abstract = "The main contribution of this paper is the design of a unit dual quaternion-based attitude and position regulator. The dynamic model of rigid body represented by unit dual quaternion is derived firstly from the rotational and the translational dynamics. And then an output feedback regulator, which ensures asymptotical stability, is proposed using unit dual quaternion. To the best of our knowledge, this study is the first to relate dual quaternion to dynamic control of rigid body without requiring decoupling attitude and position. The simulation results are provided to verify the performance.",

author = "Xiangke Wang and Changbin Yu",

year = "2010",

doi = "10.1109/ISIC.2010.5612894",

language = "English",

isbn = "9781424453603",

series = "IEEE International Symposium on Intelligent Control - Proceedings",

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booktitle = "2010 IEEE International Symposium on Intelligent Control, ISIC 2010",

note = "2010 IEEE International Symposium on Intelligent Control, ISIC 2010 ; Conference date: 08-09-2010 Through 10-09-2010",

}

Wang, X & Yu, C 2010, Feedback linearization regulator with coupled attitude and translation dynamics based on unit dual quaternion. in 2010 IEEE International Symposium on Intelligent Control, ISIC 2010., 5612894, IEEE International Symposium on Intelligent Control - Proceedings, pp. 2380-2384, 2010 IEEE International Symposium on Intelligent Control, ISIC 2010, Yokohama, Japan, 8/09/10. https://doi.org/10.1109/ISIC.2010.5612894

Feedback linearization regulator with coupled attitude and translation dynamics based on unit dual quaternion. / Wang, Xiangke; Yu, Changbin.
2010 IEEE International Symposium on Intelligent Control, ISIC 2010. 2010. p. 2380-2384 5612894 (IEEE International Symposium on Intelligent Control - Proceedings).

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

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AU - Yu, Changbin

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N2 - The main contribution of this paper is the design of a unit dual quaternion-based attitude and position regulator. The dynamic model of rigid body represented by unit dual quaternion is derived firstly from the rotational and the translational dynamics. And then an output feedback regulator, which ensures asymptotical stability, is proposed using unit dual quaternion. To the best of our knowledge, this study is the first to relate dual quaternion to dynamic control of rigid body without requiring decoupling attitude and position. The simulation results are provided to verify the performance.

AB - The main contribution of this paper is the design of a unit dual quaternion-based attitude and position regulator. The dynamic model of rigid body represented by unit dual quaternion is derived firstly from the rotational and the translational dynamics. And then an output feedback regulator, which ensures asymptotical stability, is proposed using unit dual quaternion. To the best of our knowledge, this study is the first to relate dual quaternion to dynamic control of rigid body without requiring decoupling attitude and position. The simulation results are provided to verify the performance.

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M3 - Conference contribution

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T3 - IEEE International Symposium on Intelligent Control - Proceedings

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BT - 2010 IEEE International Symposium on Intelligent Control, ISIC 2010

T2 - 2010 IEEE International Symposium on Intelligent Control, ISIC 2010

Y2 - 8 September 2010 through 10 September 2010

ER -

Feedback linearization regulator with coupled attitude and translation dynamics based on unit dual quaternion

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