Application of Dual Quaternions to the problem of trajectory tracking with quadrotor-gimbal platform

We address the problem of state feedback trajectory tracking of the composite quadrotor-gimbal platform using the dual quaternion framework by extending the previuous result in [1] to the composite case. More precisely; we model the composite system using dual quaternion coordinates and derive the error dynamics which by inserting a PD + based control law has equilibrium points that is shown to be uniformly practical asymptoticly stable (UPAS)