Kussaba, HTM, Figueredo, LFC orcid.org/0000-0002-0759-3000, Ishihara, JY et al. (1 more author) (2017) Hybrid kinematic control for rigid body pose stabilization using dual quaternions. Journal of the Franklin Institute, 354 (7). pp. 2769-2787. ISSN 0016-0032
Abstract
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hysteresis in such a way that the global asymptotic stability of the closed-loop system is guaranteed and such that the global attractivity of the stabilization pose does not exhibit chattering, a problem that is present in all discontinuous-based feedback controllers. Using numerical simulations, we illustrate the problems that arise from existing results in the literature—as unwinding and chattering—and verify the effectiveness of the proposed controller to solve the robust global pose stability problem.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. This is an author produced version of a paper published in Journal of the Franklin Institute. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 09 Aug 2018 13:32 |
Last Modified: | 09 Aug 2018 13:32 |
Status: | Published |
Publisher: | Elsevier |
Identification Number: | 10.1016/j.jfranklin.2017.01.028 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:134386 |