| dc.contributor.author | Andersen, Tom Stian | |
| dc.contributor.author | Johansen, Tor-Aleksander | |
| dc.contributor.author | Kristiansen, Raymond | |
| dc.date.accessioned | 2019-02-06T17:27:18Z | |
| dc.date.available | 2019-02-06T17:27:18Z | |
| dc.date.issued | 2018-08-16 | |
| dc.description.abstract | In this paper dual-quaternions are used to model a fully actuated rigid-body. A backstepping-controller that solves the trajectory tracking problem is derived and proved to provide uniform asymptotical stabilization of the error dynamics. Numerical simulations are provided where the controller is compared to existing dual-quaternion tracking controllers and it is shown to have similar performance. | en_US |
| dc.description | Accepted manuscript version. Published version available at <a href=https://doi.org/10.23919/ACC.2018.8431719> https://doi.org/10.23919/ACC.2018.8431719</a>. | en_US |
| dc.identifier.citation | Andersen TS, Johansen T-A, Kristiansen R. (2018) Dual-quaternion backstepping control for a fully-actuated rigid-body. <i>2018 Annual American Control Conference (ACC ) June 27-29</i> p. 5653-5658. https://doi.org.10.23919/ACC.2018.8431719 | en_US |
| dc.identifier.cristinID | FRIDAID 1625370 | |
| dc.identifier.doi | 10.23919/ACC.2018.8431719 | |
| dc.identifier.issn | 0743-1619 | |
| dc.identifier.issn | 2378-5861 | |
| dc.identifier.uri | https://hdl.handle.net/10037/14636 | |
| dc.language.iso | eng | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
| dc.relation.journal | American Control Conference (ACC) | |
| dc.rights.accessRights | openAccess | en_US |
| dc.subject | VDP::Technology: 500::Electrotechnical disciplines: 540 | en_US |
| dc.subject | VDP::Teknologi: 500::Elektrotekniske fag: 540 | en_US |
| dc.title | Dual-quaternion backstepping control for a fully-actuated rigid-body | en_US |
| dc.type | Peer reviewed | en_US |
| dc.type | Book | en_US |
| dc.type | Chapter | en_US |
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