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

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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)

Cites Work

• Title not available (Why is that?)
• An introduction to Lie groups and Lie algebras
• Title not available (Why is that?)
• Unit Quaternion-Based Output Feedback for the Attitude Tracking Problem
• The attitude control problem
• Further passivity results for the attitude control problem

Cited In (12)

• A power method for computing the dominant eigenvalue of a dual quaternion Hermitian matrix
• Functional calculus for dual quaternions
• On the comparisons of unit dual quaternion and homogeneous transformation matrix
• Hybrid kinematic control for rigid body pose stabilization using dual quaternions
• Generalized elliptical quaternions with some applications
• Dual complex structure-preserving algorithm of dual quaternion singular value decomposition and its applications
• Title not available (Why is that?)
• Nonlinear suboptimal synchronized control for relative position and relative attitude tracking of spacecraft formation flying
• Translation and attitude synchronization for multiple rigid bodies using dual quaternions
• Dual split quaternions and Chasles' theorem in 3-dimensional Minkowski space
• Title not available (Why is that?)
• Dual number-based relative position and attitude coordinated control for multi-rigid-body system

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