Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization

Paulo P.M. Magro; Hugo T.M. Kussaba; Luis F.C. Figueredo; Joao Y. Ishihara

doi:10.23919/ACC.2017.7963117

Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization

Paulo P.M. Magro, Hugo T.M. Kussaba, Luis F.C. Figueredo, Joao Y. Ishihara

University of Brasília (UnB)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

A hybrid bimodal controller for rigid body pose stabilization within the group of unit norm dual-quaternions is proposed in this paper. Using two binary logic state variables, this hysteresis-based controller represents a middle term solution between the memoryless discontinuous controller and the fixed-width hysteretic one. The proposed strategy is novel within the dual-quaternions framework and addresses three common difficulties that appears in the literature of pose and attitude stabilization: global stability, robustness against chattering and against unwinding. The efficacy and performance of the proposed controller are illustrated with numerical examples.

Original language	English
Title of host publication	2017 American Control Conference, ACC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1205-1210
Number of pages	6
ISBN (Electronic)	9781509059928
DOIs	https://doi.org/10.23919/ACC.2017.7963117
State	Published - 29 Jun 2017
Externally published	Yes
Event	2017 American Control Conference, ACC 2017 - Seattle, United States Duration: 24 May 2017 → 26 May 2017

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2017 American Control Conference, ACC 2017
Country/Territory	United States
City	Seattle
Period	24/05/17 → 26/05/17

Access to Document

10.23919/ACC.2017.7963117

Cite this

Magro, P. P. M., Kussaba, H. T. M., Figueredo, L. F. C., & Ishihara, J. Y. (2017). Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization. In 2017 American Control Conference, ACC 2017 (pp. 1205-1210). Article 7963117 (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2017.7963117

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title = "Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization",

abstract = "A hybrid bimodal controller for rigid body pose stabilization within the group of unit norm dual-quaternions is proposed in this paper. Using two binary logic state variables, this hysteresis-based controller represents a middle term solution between the memoryless discontinuous controller and the fixed-width hysteretic one. The proposed strategy is novel within the dual-quaternions framework and addresses three common difficulties that appears in the literature of pose and attitude stabilization: global stability, robustness against chattering and against unwinding. The efficacy and performance of the proposed controller are illustrated with numerical examples.",

author = "Magro, {Paulo P.M.} and Kussaba, {Hugo T.M.} and Figueredo, {Luis F.C.} and Ishihara, {Joao Y.}",

note = "Publisher Copyright: {\textcopyright} 2017 American Automatic Control Council (AACC).; 2017 American Control Conference, ACC 2017 ; Conference date: 24-05-2017 Through 26-05-2017",

year = "2017",

month = jun,

day = "29",

doi = "10.23919/ACC.2017.7963117",

language = "English",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2017 American Control Conference, ACC 2017",

}

Magro, PPM, Kussaba, HTM, Figueredo, LFC & Ishihara, JY 2017, Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization. in 2017 American Control Conference, ACC 2017., 7963117, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 1205-1210, 2017 American Control Conference, ACC 2017, Seattle, United States, 24/05/17. https://doi.org/10.23919/ACC.2017.7963117

Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization. / Magro, Paulo P.M.; Kussaba, Hugo T.M.; Figueredo, Luis F.C. et al.
2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1205-1210 7963117 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization

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AU - Figueredo, Luis F.C.

AU - Ishihara, Joao Y.

PY - 2017/6/29

Y1 - 2017/6/29

N2 - A hybrid bimodal controller for rigid body pose stabilization within the group of unit norm dual-quaternions is proposed in this paper. Using two binary logic state variables, this hysteresis-based controller represents a middle term solution between the memoryless discontinuous controller and the fixed-width hysteretic one. The proposed strategy is novel within the dual-quaternions framework and addresses three common difficulties that appears in the literature of pose and attitude stabilization: global stability, robustness against chattering and against unwinding. The efficacy and performance of the proposed controller are illustrated with numerical examples.

AB - A hybrid bimodal controller for rigid body pose stabilization within the group of unit norm dual-quaternions is proposed in this paper. Using two binary logic state variables, this hysteresis-based controller represents a middle term solution between the memoryless discontinuous controller and the fixed-width hysteretic one. The proposed strategy is novel within the dual-quaternions framework and addresses three common difficulties that appears in the literature of pose and attitude stabilization: global stability, robustness against chattering and against unwinding. The efficacy and performance of the proposed controller are illustrated with numerical examples.

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M3 - Conference contribution

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SP - 1205

EP - 1210

BT - 2017 American Control Conference, ACC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 American Control Conference, ACC 2017

Y2 - 24 May 2017 through 26 May 2017

ER -

Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization

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