Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions
For robotics and control engineers, it solves the robust global pose stabilization problem by eliminating unwinding and chattering issues.
The paper addresses rigid body pose stabilization using dual quaternions, proposing a hybrid switching control law with hysteresis that guarantees global asymptotic stability without chattering, unlike existing discontinuous controllers.
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.