Hybrid kinematic control for rigid body pose stabilization using dual quaternions

Hugo T.M. Kussaba, Luis F.C. Figueredo, João Y. Ishihara, Bruno V. Adorno

Research output: Contribution to journalArticlepeer-review


In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hysteresis in such a way that the global asymptotic stability of the closed-loop system is guaranteed and such that the global attractivity of the stabilization pose does not exhibit chattering, a problem that is present in all discontinuous-based feedback controllers. Using numerical simulations, we illustrate the problems that arise from existing results in the literature—as unwinding and chattering—and verify the effectiveness of the proposed controller to solve the robust global pose stability problem.
Original languageEnglish
Pages (from-to)2769-2787
Number of pages19
JournalJournal of the Franklin Institute
Issue number7
Early online date3 Feb 2017
Publication statusPublished - 1 May 2017


Dive into the research topics of 'Hybrid kinematic control for rigid body pose stabilization using dual quaternions'. Together they form a unique fingerprint.

Cite this