Distributed translation and attitude synchronization for multiple rigid bodies using dual quaternions

2016 ◽  
Author(s):  
Yinqiu Wang ◽  
Fengmin Yu ◽  
Changbin Yu
Keyword(s):  
Rigid Bodies ◽  
Dual Quaternions ◽  
Attitude Synchronization

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Estimation Error ◽  
External Disturbance ◽  
Upper Bounds ◽  
Rigid Bodies ◽  
Sliding Surface ◽  
Actuator Faults ◽  
Content Type ◽  
Attitude Synchronization

Purpose The purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults. Design/methodology/approach For the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation. Findings Assuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation. Originality/value The proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.

Lumped-Parameter Modeling of Visco-Elastically Coupled Rigid Bodies Using Clifford’s Biquaternions

2000 ◽  
Author(s):  
Ernest D. Fasse
Keyword(s):  
Computer Simulation ◽  
Rigid Bodies ◽  
Elastic Coupling ◽  
Potential Utility ◽  
Dual Quaternions ◽  
Lumped Parameter ◽  
Lumped Parameter Modeling

Abstract This work considers the problem of modeling visco-elastically coupled rigid bodies, with application to modeling and computer simulation of spatial, flexural mechanisms. A method of modeling visco-elastic coupling based on Clifford’s biquaternions (dual quaternions) is presented. The potential utility of the method is demonstrated by simulating the behavior of a complex spatial, flexural mechanism.

Kinematic control of free rigid bodies using dual quaternions

2008 ◽  
Vol 5 (3) ◽  
pp. 319-324 ◽  
Author(s):  
Da-Peng Han ◽  
Qing Wei ◽  
Ze-Xiang Li
Keyword(s):  
Rigid Bodies ◽  
Kinematic Control ◽  
Dual Quaternions
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