Abstract
Dual quaternion is a more efficient tool without singularity to describe rigid-body transformation than other tools, such as homogeneous transformation matrix. In this paper, we propose a new variable structure control (VSC) based on unit dual quaternion Lie-group for the transformation of rigid-bodies in configuration space. We set up the dynamic model of the rigid-body motion represented by unit dual quaternion after the geometric structure of dual quaternion is revealed, and then propose a new unit-dual-quaternion-based VSC controller, including a new switching function and a new reaching law. At last, the proposed controller is specified into the configuration space of planar robot and applied with the dynamic model of the NuBot omni-directional mobile robot in simulation to show its effectiveness.
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Zhang, H., Wang, X., Han, D. (2010). Dual-Quaternion-Based Variable Structure Control: A New Approach and Application. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_8
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DOI: https://doi.org/10.1007/978-3-642-16587-0_8
Publisher Name: Springer, Berlin, Heidelberg
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