Dual-quaternion backstepping control for a fully-actuated rigid-body.
Tom Stian AndersenTor-Aleksander JohansenRaymond KristiansenPublished 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