Kinematic Control of Free Rigid Bodies Using Dual Quaternions

作     者：Da-Peng Han Qing Wei Ze-Xiang Li 

作者机构：College of Mechatronic Engineering and Automation~ National University of Defense Technology Changsha 410073 PRC Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Hongkong PRC 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2008年第5卷第3期

页      面：319-324页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

主　　题：Kinematic control dual quaternion omnidirectional control proportional control 

摘      要：This paper proposes a new type of control laws for free rigid bodies. The start point is the dual quaternion and its characteristics. The logarithm of a dual quaternion is defined, based on which kinematic control laws can be developed. Global exponential convergence is achieved using logarithmic feedback via a generalized proportional control law, and an appropriate Lyapunov function is constructed to prove the stability. Both the regulation and tracking problems are tackled. Omnidirectional control is discussed as a case study. As the control laws can handle the interconnection between the rotation and translation of a rigid body, they are shown to be more applicable than the conventional method.