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• W2584800277 abstract "In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hysteresis in such a way that the global asymptotic stability of the closed-loop system is guaranteed and such that the global attractivity of the stabilization pose does not exhibit chattering, a problem that is present in all discontinuous-based feedback controllers. Using numerical simulations, we illustrate the problems that arise from existing results in the literature -- as unwinding and chattering -- and verify the effectiveness of the proposed controller to solve the robust global pose stability problem." @default.
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• W2584800277 date "2017-05-01" @default.
• W2584800277 modified "2023-10-17" @default.
• W2584800277 title "Hybrid kinematic control for rigid body pose stabilization using dual quaternions" @default.
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• W2584800277 doi "https://doi.org/10.1016/j.jfranklin.2017.01.028" @default.
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