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dc.contributor.authorAndersen, Tom Stian
dc.contributor.authorJohansen, Tor-Aleksander
dc.contributor.authorKristiansen, Raymond
dc.date.accessioned2019-02-06T17:27:18Z
dc.date.available2019-02-06T17:27:18Z
dc.date.issued2018-08-16
dc.description.abstractIn 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.descriptionAccepted 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.citationAndersen 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.2018.8431719en_US
dc.identifier.cristinIDFRIDAID 1625370
dc.identifier.doi10.23919/ACC.2018.8431719
dc.identifier.issn0743-1619
dc.identifier.issn2378-5861
dc.identifier.urihttps://hdl.handle.net/10037/14636
dc.language.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.journalAmerican Control Conference (ACC)
dc.rights.accessRightsopenAccessen_US
dc.subjectVDP::Technology: 500::Electrotechnical disciplines: 540en_US
dc.subjectVDP::Teknologi: 500::Elektrotekniske fag: 540en_US
dc.titleDual-quaternion backstepping control for a fully-actuated rigid-bodyen_US
dc.typePeer revieweden_US
dc.typeBooken_US
dc.typeChapteren_US


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