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

• Published in: 2013 American Control Conference pp. 4808 - 4813
• Main Authors: Filipe, Nuno, Tsiotras, Panagiotis
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.06.2013
• Subjects: Angular velocity; Attitude control; Equations; Force; Kinematics; Quaternions; Vectors

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...