Quaternion synthesis of a nonlinear control of the orientation of a moving object

MaRDI QIDQ677368zbMATH OpenFDO

Authors Yurii N. Chelnokov

Publication date 21 April 1997

Published in Journal of Computer and Systems Sciences International (Search for Journal in Brave)

zbMATH Keywords

Hamiltonian quaternioninertial systemsmanipulator robots

Mathematics Subject Classification ID

Free motion of a rigid body (70E15) Application models in control theory (93C95) Stabilization of systems by feedback (93D15)

Review text

An analytical method for constructing a nonlinear control for a moving object is proposed. The proposed method is based on the Hamiltonian quaternion methodology. The constructed control laws include nonlinear feedback paths in the components of the orientation error quaternion of the moving object and in its angular velocities, and have graphically explicit and compact structures that are convenient for real-time realization on an on-board processor. The method proposed by the author permits the determination of the feedback gain coefficients. The model has many applications in inertial systems and in systems for the control of manipulator robots.

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Cited in

(2)

• Synthesis of control of spatial motion of a rigid body using dual quaternions
• scientific article; zbMATH DE number 4133548 (Why is no real title available?)

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