The adoption of the dual quaternion formalism to represent the pose (position and orientation) of a rigid body allows to design a single controller to regulate both its position and its attitude. In this work, we adopt such a pose representation to develop an exponentially stable maneuver regulation control law, ensuring robust path following in the presence of disturbances. The designed solution relies on the feedback linearized model of the dual quaternion based dynamics of the rigid body. Numerical results confirm the effectiveness of the proposed maneuver regulation approach when compared with trajectory tracking in a noisy scenario.

A Dual Quaternion Feedback Linearized Approach for Maneuver Regulation of Rigid Bodies

Antonello, Andrea;Michieletto, Giulia;Antonello, Riccardo;Cenedese, Angelo
2018

Abstract

The adoption of the dual quaternion formalism to represent the pose (position and orientation) of a rigid body allows to design a single controller to regulate both its position and its attitude. In this work, we adopt such a pose representation to develop an exponentially stable maneuver regulation control law, ensuring robust path following in the presence of disturbances. The designed solution relies on the feedback linearized model of the dual quaternion based dynamics of the rigid body. Numerical results confirm the effectiveness of the proposed maneuver regulation approach when compared with trajectory tracking in a noisy scenario.
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11577/3270214
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? ND
social impact