Dual Number-Based Relative Position and Attitude Coordinated Control for Multi-Rigid-Body System

Abstract

The paper focuses on finding a dual number solution to position and attitude coordinated control for a multi-rigid-body system. First, a relative motion coupling model of a multi-rigid-body system is established under the framework of dual number and dual quaternion theory. Then, a coordinated control strategy that uses graph theory based on a derived new type of dual quaternion is proposed to simultaneously control the position and attitude of a multi-rigid-body system. Finally, the resulting Lyapunov function is proved to be almost globally asymptotically stable. The simulation results show that the proposed algorithm not only achieves unified control of position and attitude but also exhibits better tracking control performance.