Title:
Rigid body motion tracking without linear and angular velocity feedback using dual quaternions
Rigid body motion tracking without linear and angular velocity feedback using dual quaternions
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Author(s)
Filipe, Nuno
Tsiotras, Panagiotis
Tsiotras, Panagiotis
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Abstract
This paper takes advantage of a new, recently proposed representation of the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that combined position and attitude tracking controllers based on dual quaternions can be developed with relatively low effort from existing attitude-only tracking controllers based on quaternions. We show this by developing an almost globally asymptotically stable nonlinear controller capable of simultaneously following time-varying position and attitude profiles without linear and angular velocity feedback based on an existing attitude-only tracking controller without angular velocity feedback.
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2013-06
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