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    Rigid body motion tracking without linear and angular velocity feedback using dual quaternions

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    Date
    2013-06
    Author
    Filipe, Nuno
    Tsiotras, Panagiotis
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    Abstract
    This paper takes advantage of a new, recently proposed representation of the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that combined position and attitude tracking controllers based on dual quaternions can be developed with relatively low effort from existing attitude-only tracking controllers based on quaternions. We show this by developing an almost globally asymptotically stable nonlinear controller capable of simultaneously following time-varying position and attitude profiles without linear and angular velocity feedback based on an existing attitude-only tracking controller without angular velocity feedback.
    URI
    http://hdl.handle.net/1853/53251
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    • Unmanned Aerial Vehicle (UAV) [118]
    • Unmanned Aerial Vehicle (UAV) Publications [104]

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