Simultaneous position and attitude control without linear and angular velocity feedback using dual quaternions

In this paper, we suggest a new representation for the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that with this representation it is relatively straightforward to extend existing attitude controllers based on quaternions t...

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Bibliographic Details
Published in2013 American Control Conference pp. 4808 - 4813
Main Authors Filipe, Nuno, Tsiotras, Panagiotis
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2013
Subjects
Angular velocity
Attitude control
Equations
Force
Kinematics
Quaternions
Vectors
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Summary:In this paper, we suggest a new representation for the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that with this representation it is relatively straightforward to extend existing attitude controllers based on quaternions to combined position and attitude controllers based on dual quaternions. We show this by developing setpoint nonlinear controllers for the position and attitude of a rigid body with and without linear and angular velocity feedback based on existing attitude-only controllers with and without angular velocity feedback. The combined position and attitude velocity-free controller exploits the passivity of the rigid body dynamics and can be used when no linear and angular velocity measurements are available.
ISBN:1479901776
9781479901777
ISSN:0743-1619
DOI:10.1109/ACC.2013.6580582