https://m2.mtmt.hu/ eng 2026-04-16 03:50 BookChapter 34256591 ADMIN_APPROVED true Export Date: 14 December 2023 0 false 2025-12-16T10:25:24.874+0000 2024-11-19T10:17:42.696+0000 2023-11-06T09:15:27.380+0000 true 10085779 Kimathi Stephen /api/author/10085779 Author true 5334793 2025-12-19T10:17:33.318+0000 2025-12-19T10:17:33.240+0000 Author 10085779 /api/author/10085779 Kimathi Stephen true true SUSPECT 2024-11-19T10:17:39.298+0000 2025-12-19T10:17:33.240+0000 2024-11-19T10:17:42.843+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin true true false true 25 25 /api/publicationtype/25 PublicationType 2 true 25 BookChapter true 10000312 Conference paper true 25 25 /api/publicationtype/25 PublicationType 2 true 25 BookChapter /api/subtype/10000312 Konferenciaközlemény SubType 228 true 10000312 true 1 /api/category/1 Category true 1 Kimathi, Stephen PD control and the unwinding effect in quaternion parameterized attitude control 67 72 67 6 2023 The unit quaternion is popular in the representation and control of rigid body attitude systems. However, it is known that two equilibrium points in the unit quaternion attitude formulation represent a single equilibrium point in a rotation matrix in SO(3). This often leads to a non-efficient control effort as the quaternion transients can settle to either of the equilibrium point regardless of the path taken or, even undergo a homoclinic orbit between the two equilibrium points. This behaviour is referred to as the unwinding effect. This paper presents solutions to cure the unwinding effect in unit quaternion parameterized attitude control systems through the use of a switching parameter or a saturation function. © 2023 IEEE. true 2023 true true true true true false NONE 2025-12-16 false 1 0 1 0 1 1 1 0 1 1 1 0 0 0 1 0 1 0 1 0 0 1 1 Folyóiratcikk Journal Article 24 0 Könyvrészlet Chapter in Book 25 1 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 0 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 0 Egyéb Miscellaneous 29 0 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 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10.1016/j.automatica.2008.10.012 false true Reference 46880202 /api/reference/46880202 4 10.1080/00207178808906130 false true Reference 46880203 /api/reference/46880203 5 10.1016/j.automatica.2022.110567 false true Reference 46880204 /api/reference/46880204 6 10.1109/ICSEngT.2012.6339363 false true Reference 46880205 /api/reference/46880205 7 10.1109/CDC.2009.5400431 false true Reference 46880206 /api/reference/46880206 8 10.2307/2689481 false true Reference 46880207 /api/reference/46880207 9 false true Reference 46880208 /api/reference/46880208 10 false true Reference 46880209 /api/reference/46880209 11 10.1109/INES56734.2022.9922611 false true Reference 46880210 /api/reference/46880210 12 10.1016/j.ifacol.2022.05.027 false true Reference 46880211 /api/reference/46880211 13 10.1109/9.90228 false true Reference 46880212 /api/reference/46880212 14 10.1155/2014/652571 false true Reference 46880213 /api/reference/46880213 15 10.1016/j.sysconle.2012.11.019 false true Reference 46880214 /api/reference/46880214 16 10.1109/CCSII.2012.6470474 false true Reference 46880215 /api/reference/46880215 17 10.1109/ROBOT.2000.845360 false true Reference 46880216 /api/reference/46880216 18 10.1109/ACC.2011.5991127 false true Reference 46880217 /api/reference/46880217 19 10.1109/MCS.2011.940459 false true Reference 46880218 /api/reference/46880218 20 10.1016/S0167-6911(99)00090-0 false true /api/publication/34256591 <div class="BookChapter Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10085779"><a href="/gui2/?type=authors&mode=browse&sel=10085779" target="_blank">Kimathi Stephen (<span class="authorship-author-name">Kimathi Stephen</span> <span class="authorAux-mtmt"> Control Engineering, Autonomous Vehicles, Attit...</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Electrical Engineering and Informatics">FEEI</span>/Department of Control Engineering and Information Technology</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="1366974"><a href="/gui2/?type=authors&mode=browse&sel=1366974" target="_blank">Lantos Bela (<span class="authorship-author-name">Lantos Béla</span> <span class="authorAux-mtmt"> Műszaki kibernetika</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Electrical Engineering and Informatics">FEEI</span>/Department of Control Engineering and Information Technology</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;34256591" target="_blank">PD control and the unwinding effect in quaternion parameterized attitude control</a></div> <div class="InBook"><div class="chapter-in">In:</div> <div class="authors"> <div class="autype autype0"> <span class="author-name" mtid="10039071"><a href="/gui2/?type=authors&mode=browse&sel=10039071" target="_blank">Szakál Anikó (<span class="authorship-author-name">Szakál Anikó</span> <span class="authorAux-mtmt"> műszaki informatika</span>) </a> </span> <span class="author-affil">Óbuda University</span> </div> </div> <div class="booktitle"><a href="/gui2/?mode=browse&params=publication;34081522" target="_blank">27th IEEE International Conference on Intelligent Engineering Systems, INES 2023 : Proceedings </a></div> <div class="conference"> Conference: <span class="location">Nairobi, Kenya <span class="conference-date">2023.07.26. - 2023.07.31.</span> </div> <span class="editionNumber">(1)</span> <span class="publishedAt">Piscataway (NJ): <span class="publishers">IEEE Hungary Section</span>, <span class="page"> pp 67-72 </span> <span class="year">(2023)</span> ( <span class="seriesTitle">Proceedings - IEEE International Conference on Intelligent Engineering Systems</span> <span class="issn">1543-9259</span> ) </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Language: English | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1109/INES59282.2023.10297790" target="_blank" href="https://doi.org/10.1109/INES59282.2023.10297790"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85178553779" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85178553779"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://ieeexplore.ieee.org/document/10297790/" target="_blank" href="https://ieeexplore.ieee.org/document/10297790/"> Other URL </a> </span> </span> <span class="bookchapter-ids">Book link(s):</span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1109/INES59282.2023" target="_blank" href="https://doi.org/10.1109/INES59282.2023"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9798350328509" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9798350328509"> 9798350328509 </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9798350328516" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9798350328516"> 9798350328516 </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9798350328523" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9798350328523"> 9798350328523 </a> </span> </span> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="" class="citingPub-count">Citing papers: 1</span> | Independent citation: 0 | Self citation: 1 | Unknown citation: 0 | Number of citations in Scopus:&nbsp;1 | WoS/Scopus assigned:&nbsp;1 | Number of citations with DOI:&nbsp;1 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;34256591&sort=publishedYear,desc&sort=title"> Number of cited publications: 1 </a> </div> <div class="mtid"><span class="long-pub-mtid">Publication: 34256591</span> | <span class="status-data status-ADMIN_APPROVED"> Admin approved </span> <span class="long-book-mtid">Book: 34081522</span> Core Citing | <span class="type-subtype">Chapter in Book ( Conference paper ) </span> | <span class="pub-category">Scientific</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Last Modified: 2024.11.19. 11:17 Katalin Andódy (BME admin4) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Comments</u>: Export Date: 14 December 2023</pre> </div> </div>