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Distributed translation and attitude synchronization for multiple rigid bodies using dual quaternions
- Source :
- ACC
- Publication Year :
- 2016
- Publisher :
- IEEE, 2016.
-
Abstract
- In this paper, we investigate the distributed synchronization problem for multiple fully actuated rigid bodies without a leader. A new mathematical tool-dual quaternion is employed to design the distributed control law. The definition and some properties about dual quaternion are introduced. A distributed control law is proposed to control the attitude and translation of these rigid bodies simultaneously with notion concision and non-singularity. And the analysis based on dual quaternion is a unified solution for the attitude and translation. Finally, the proposed control algorithm is simulated to illustrate the theoretical results.
- Subjects :
- 0209 industrial biotechnology
Computer science
02 engineering and technology
Translation (geometry)
01 natural sciences
020901 industrial engineering & automation
Control theory
0103 physical sciences
Synchronization (computer science)
Control (linguistics)
Quaternion
Dual quaternion
010301 acoustics
ComputingMethodologies_COMPUTERGRAPHICS
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2016 American Control Conference (ACC)
- Accession number :
- edsair.doi...........56381dd3c9ed3dec2d4e5498372a421b