The geometric structure of unit dual quaternion with application in kinematic control

DOI10.1016/J.JMAA.2012.01.016zbMATH Open1401.93070OpenAlexW2091310900MaRDI QIDQ764976FDOQ764976

Authors Xiangke Wang, Dapeng Han, Changbin Yu, Zhiqiang Zheng 

Publication date 16 March 2012

Published in Journal of Mathematical Analysis and Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jmaa.2012.01.016

zbMATH Keywords

logarithmic mappingkinematic controlLie-group structureunit dual quaternion

Mathematics Subject Classification ID

Quaternion and other division algebras: arithmetic, zeta functions (11R52) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Algebraic methods (93B25) Geometric methods (93B27)

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Cites work

• scientific article; zbMATH DE number 707263 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• An introduction to Lie groups and Lie algebras
• Further passivity results for the attitude control problem
• The attitude control problem
• Unit Quaternion-Based Output Feedback for the Attitude Tracking Problem

Cited in

(13)

• On the comparisons of unit dual quaternion and homogeneous transformation matrix
• Dual quaternion control: a review of recent results within motion control
• Dual complex structure-preserving algorithm of dual quaternion singular value decomposition and its applications
• scientific article; zbMATH DE number 1399895 (Why is no real title available?)
• Translation and attitude synchronization for multiple rigid bodies using dual quaternions
• Dual split quaternions and Chasles' theorem in 3-dimensional Minkowski space
• Nonlinear suboptimal synchronized control for relative position and relative attitude tracking of spacecraft formation flying
• Hybrid kinematic control for rigid body pose stabilization using dual quaternions
• Functional calculus for dual quaternions
• Dual number-based relative position and attitude coordinated control for multi-rigid-body system
• scientific article; zbMATH DE number 3940774 (Why is no real title available?)
• Generalized elliptical quaternions with some applications
• A power method for computing the dominant eigenvalue of a dual quaternion Hermitian matrix

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