Dual-quaternion backstepping control for a fully-actuated rigid-body.

Tom Stian Andersen Tor-Aleksander Johansen Raymond Kristiansen

Published in: ACC (2018)

Keyphrases

rigid body
control strategy
control law
open loop
adaptive control
control system

closed loop
rigid body motion
force control
rigid objects
nonlinear systems
collision detection

machine learning
control method
feedback control
rotation and translation
control scheme
optimal control

motion parameters
fourier transform
motion estimation
dynamic programming
optical flow