Add to ORKGA Hamiltonian formulation of free rigid body motion defined on the Special Unitary Group SU(2) is used to integrate the system to obtain a convenient quaternion representation for attitude engineering applications. Novel content of this paper concerns applying a modern approach, based on geometric control theory to obtain the kinematic solution in an elegant and compact form. Moreover, this integration leads to an attitude representation which is not Euler-angle-like, thus enhancing its applicability (e.g. to attitude motion design)
Abstract--For p oblems involving rotating rigid bodies (e.g. spin-stabilized satellites inspace) one...
The main contribution of this paper is the derivation of a model independent feedback control law th...
The adoption of the dual quaternion formalism to represent the pose (position and orientation) of a ...
Abstract — This paper provides new results for a tracking control of the attitude dynamics of a rigi...
Presented at American Control Conference, Washington, DC, June 17-19, 2013.In this paper, we suggest...
This paper focuses on finding a dual quaternion solution to attitude and position control for multip...
The unit quaternion is a pervasive representation of rigid-body attitude used for the design and ana...
The development of analytic solutions for the forced attitude motion of a rigid body is a formidable...
The Vetical Take Off And Landing Unmanned Aerial Vehicle ( VTOL UAV) has seen unprecedented levels ...
The aim of this article is to present a novel quaternion based control scheme for the attitude contr...
Copyright © 2013 by the authors. Published by the American Institute of Aeronautics and Astronautics...
The collocation method is extended to the special orthogonal group SO(3) with application to optimal...
Copyright © 2013 IEEEPresented at European Control Conference (ECC), July 17-19, 2013, Zurich, Switz...
In this dissertation, we study the dynamics and control of coupled mechanical systems. A key feature...
We present a new method for describing the kinematics of the rotational motion of a rigid body. The ...
Abstract--For p oblems involving rotating rigid bodies (e.g. spin-stabilized satellites inspace) one...
The main contribution of this paper is the derivation of a model independent feedback control law th...
The adoption of the dual quaternion formalism to represent the pose (position and orientation) of a ...
Abstract — This paper provides new results for a tracking control of the attitude dynamics of a rigi...
Presented at American Control Conference, Washington, DC, June 17-19, 2013.In this paper, we suggest...
This paper focuses on finding a dual quaternion solution to attitude and position control for multip...
The unit quaternion is a pervasive representation of rigid-body attitude used for the design and ana...
The development of analytic solutions for the forced attitude motion of a rigid body is a formidable...
The Vetical Take Off And Landing Unmanned Aerial Vehicle ( VTOL UAV) has seen unprecedented levels ...
The aim of this article is to present a novel quaternion based control scheme for the attitude contr...
Copyright © 2013 by the authors. Published by the American Institute of Aeronautics and Astronautics...
The collocation method is extended to the special orthogonal group SO(3) with application to optimal...
Copyright © 2013 IEEEPresented at European Control Conference (ECC), July 17-19, 2013, Zurich, Switz...
In this dissertation, we study the dynamics and control of coupled mechanical systems. A key feature...
We present a new method for describing the kinematics of the rotational motion of a rigid body. The ...
Abstract--For p oblems involving rotating rigid bodies (e.g. spin-stabilized satellites inspace) one...
The main contribution of this paper is the derivation of a model independent feedback control law th...
The adoption of the dual quaternion formalism to represent the pose (position and orientation) of a ...