Name
Abstract | ||
|---|---|---|
In this paper dual-quaternions are used to model a fully actuated rigid-body. A backstepping-controller that solves the trajectory tracking problem is derived and proved to provide uniform asymptotical stabilization of the error dynamics. Numerical simulations are provided where the controller is compared to existing dual-quaternion tracking controllers and it is shown to have similar performance. |
Year | Venue | Field |
|---|---|---|
2018 | 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) | Control theory,Backstepping,Kinematics,Dual quaternion,Control theory,Computer science,Quaternion,Rigid body,Control engineering,Trajectory |
DocType | ISSN | Citations |
Conference | 0743-1619 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tom Stian Andersen | 1 | 0 | 1.35 |
| Tor-Aleksander Johansen | 2 | 1 | 1.05 |
| Raymond Kristiansen | 3 | 96 | 16.09 |