Pose-Following with Dual Quaternions

Jon Arrizabalaga, Markus Ryll

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional freedom to self-regulate the progress along the path is an appealing trade-off. Towards this end, we extend the well-established dual quaternion based pose-tracking method into a pose-following control law. Specifically, we derive the equations of motion for the full pose error between the geometric reference and the rigid body in the form of a dual quaternion and dual twist, and subsequently, formulate an almost globally asymptotically stable control law. The global attractivity of the presented approach is validated in a spatial example, while its benefits over pose-tracking are showcased through a planar case-study.

Original languageEnglish
Title of host publication2023 62nd IEEE Conference on Decision and Control, CDC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9798350301243
StatePublished - 2023
Event62nd IEEE Conference on Decision and Control, CDC 2023 - Singapore, Singapore
Duration: 13 Dec 202315 Dec 2023

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference62nd IEEE Conference on Decision and Control, CDC 2023


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