Unit Dual Quaternion Based Set-Point Control with Input Constraints

摘要

Control input constraints especially velocity saturations make a gap between theoretical control laws and applications on real vehicles. This paper presents a first attempt to solve the set-point control problem for the unit dual quaternion (UDQ) based kinematic system subject to input constraints. It strictly proves that the UDQ-logarithm based proportional control law can still make this system stable by using Lyapunov method. The control performance of the system is illustrated and verified by numerical simulations.