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arXiv · 1701.08031

Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions

Hugo T. M. Kussaba·Luis F. C. Figueredo·João Y. Ishihara·Bruno V. Adorno
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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.

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Hugo T. M. Kussaba, Luis F. C. Figueredo, João Y. Ishihara, Bruno V. Adorno. 2017-01-27. Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions. https://doi.org/10.1016/j.jfranklin.2017.01.028

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