https://m2.mtmt.hu/ eng 2026-03-15 12:52 BookChapter 34742516 ADMIN_APPROVED true IEEE Control Systems Chapter; IEEE Hungary Section; IEEE Joint Chapter of IES and RAS; IEEE SMC Chapter Conference code: 197504 Export Date: 18 March 2024 Correspondence Address: Kimathi, S.; Budapest University of Technology and Economics, Hungary; email: kimathi@iit.bme.hu 0 false 2025-12-16T10:25:00.120+0000 2024-11-19T10:24:10.464+0000 2024-03-18T07:57:40.875+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin Katalin Andódy (BME admin4) true 5334791 2025-12-19T10:16:01.102+0000 2025-12-19T10:16:01.017+0000 Author 10085779 /api/author/10085779 Stephen Kimathi (Control Engineering, Autonomous Vehicles, Attitude Control and Modelling) Kimathi Stephen true true SUSPECT 2024-11-19T10:24:07.316+0000 2025-12-19T10:16:01.017+0000 2024-11-19T10:24:10.615+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin Katalin Andódy (BME admin4) true true false true 25 25 /api/publicationtype/25 PublicationType Chapter in Book 2 true 25 BookChapter true 10000312 Conference paper true 25 25 /api/publicationtype/25 PublicationType Chapter in Book 2 true 25 BookChapter /api/subtype/10000312 Konferenciaközlemény SubType Conference paper (Chapter in Book) 228 true 10000312 true 1 /api/category/1 Category Scientific true 1 Kimathi, S. 309 314 309 6 2024 This paper presents the simultaneous attitude and position control of rigid bodies using the unit dual quaternion. A dual quaternion is a compound of a unit quaternion and a translational vector, using the dual number formalization, such that the real part represents the rotation and the dual part, the translation transformation. Since the unit dual quaternion can be used to represent the rigid body dynamics in the 3D space, then the error dual quaternion can be used to design feedback control laws for both set-point stabilization, and attitude and position tracking. Simulation results using a rigid-body model are presented to show the performance of the dual quaternion formalism for simultaneous attitude and position control. © 2024 IEEE. 2024 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 0 0 0 2024 0 1 0 1 0 false false false false 2024-06-16T09:24:12.426+0000 Irányítástechnika és Informatika Tanszék (BME / VIK) 2 15 1 2 0 true 539 true 10002 English /api/language/10002 Angol Language English true 2 false true 10939 true 10017 /api/country/10017 Country United States of America true 13 /api/city/10939 City Piscataway (NJ), United States of America true 2054246 true 28712336 IDENTICAL /api/publicationidentifier/28712336 https://doi.org/10.1109/SAMI60510.2024 10.1109/SAMI60510.2024 PublicationIdentifier DOI: 10.1109/SAMI60510.2024 true 6 DOI https://doi.org/@@@ /api/publicationsource/6 DOI PlainSource DOI true true 10001 /api/publicationsourcetype/10001 PublicationSourceType DOI true true 6 true false true 25360919 /api/publicationidentifier/25360919 https://www.worldcat.org/search?q=isbn%3A9798350317190 9798350317190 PublicationIdentifier ISBN: 9798350317190 true 122 ISBN https://www.worldcat.org/search?q=isbn%3A@@@ /api/publicationsource/122 ISBN PlainSource ISBN true true 10002 /api/publicationsourcetype/10002 PublicationSourceType Egyéb true false 122 true false true 25360920 IDENTICAL /api/publicationidentifier/25360920 https://www.worldcat.org/search?q=isbn%3A9798350317206 9798350317206 PublicationIdentifier ISBN: 9798350317206 true 122 ISBN https://www.worldcat.org/search?q=isbn%3A@@@ /api/publicationsource/122 ISBN PlainSource ISBN true true 10002 /api/publicationsourcetype/10002 PublicationSourceType Egyéb true false 122 true false true 28712337 /api/publicationidentifier/28712337 https://www.worldcat.org/search?q=isbn%3A9798350317213 9798350317213 PublicationIdentifier ISBN: 9798350317213 true 122 ISBN https://www.worldcat.org/search?q=isbn%3A@@@ /api/publicationsource/122 ISBN PlainSource ISBN true true 10002 /api/publicationsourcetype/10002 PublicationSourceType Egyéb true false 122 true false /api/publication/34531738 IEEE [ed.]. 22nd IEEE World Symposium on Applied Machine Intelligence and Informatics, SAMI 2024: Proceedings. 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Yang, X., Wu, H., Chen, B., Li, Y., Jiang, S., A dual quaternion approach to efficient determination of the maximal singularity-free joint space and workspace of six-DOF parallel robots (2018) Mechanism and Machine Theory, 129, pp. 279-292 8 false true Reference 51101055 /api/reference/51101055 9. Filipe, N., Tsiotras, P., Adaptive position and attitude-tracking controller for satellite proximity operations using dual quaternions (2015) Journal of Guidance, Control, and Dynamics, 38 (4), pp. 566-577 9 false true Reference 51101056 /api/reference/51101056 10. Stanfield, K.S., Younes, A.B., Dual attitude representations and kinematics for six-degree-of-freedom spacecraft dynamics (2023) IEEE Access, 11, pp. 34349-34358 10 false true Reference 51101057 /api/reference/51101057 11. 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Malladi, B.P., Butcher, E.A., Sanfelice, R.G., Rigid-body pose hybrid control using dual quaternions: Global asymptotic stabilization and robustness (2020) Journal of Guidance, Control, and Dynamics, 43 (9), pp. 1631-1640 17 false true Reference 51101064 /api/reference/51101064 18. Wang, X., Yu, C., Unit dual quaternion-based feedback linearization tracking problem for attitude and position dynamics (2013) Systems & Control Letters, 62 (3), pp. 225-233 18 false true Reference 51101065 /api/reference/51101065 19. Filipe, N., Tsiotras, P., Simultaneous position and attitude control without linear and angular velocity feedback using dual quaternions Proceedings of 2013 American Control Conference, pp. 4808-4813. , Washington, DC, USA, June 2013 19 false true Reference 51101066 /api/reference/51101066 20. 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(2024) In: 22nd IEEE World Symposium on Applied Machine Intelligence and Informatics, SAMI 2024 pp. 309-314<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 S. ✉ (<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 B. (<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;34742516" target="_blank">Simultaneous attitude and position tracking using dual quaternion parameterized dynamics</a></div> <div class="InBook"><div class="chapter-in">In:</div> <div class="authors"> <div class="autype autype-1"> <span class="author-affil">IEEE</span> (eds.) </div> </div> <div class="booktitle"><a href="/gui2/?mode=browse&params=publication;34531738" target="_blank">22nd IEEE World Symposium on Applied Machine Intelligence and Informatics, SAMI 2024 : Proceedings </a></div> <div class="conference"> Conference: <span class="location">Felsőerdőfalva, Slovakia <span class="conference-date">2024.01.25. - 2024.01.27.</span> </div> <span class="editionNumber">(1)</span> <span class="publishedAt">Piscataway (NJ): <span class="publishers">IEEE</span>, <span class="page"> pp 309-314 </span> <span class="year">(2024)</span> ( <span class="seriesTitle">Proceedings - International Symposium on Applied Machine Intelligence and Informatics, SAMI</span> <span class="issn">2836-0834</span> <span class="issn">2767-9438</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/SAMI60510.2024.10432898" target="_blank" href="https://doi.org/10.1109/SAMI60510.2024.10432898"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85186756488" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85186756488"> Scopus </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/SAMI60510.2024" target="_blank" href="https://doi.org/10.1109/SAMI60510.2024"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9798350317190" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9798350317190"> 9798350317190 </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:blue" title="9798350317206" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9798350317206"> 9798350317206 </a> </span> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9798350317213" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9798350317213"> 9798350317213 </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;34742516&sort=publishedYear,desc&sort=title"> Number of cited publications: 1 </a> </div> <div class="mtid"><span class="long-pub-mtid">Publication: 34742516</span> | <span class="status-data status-ADMIN_APPROVED"> Admin approved </span> <span class="long-book-mtid">Book: 34531738</span> Core Citing | <span class="type-subtype">Chapter in Book ( Conference paper ) </span> | <span class="pub-category">Scientific</span> | <span class="publication-sourceOfData">Scopus</span> </div> <div class="lastModified">Last Modified: 2024.11.19. 11:24 Katalin Andódy (BME admin4) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Comments</u>: IEEE Control Systems Chapter; IEEE Hungary Section; IEEE Joint Chapter of IES and RAS; IEEE SMC Chapter Conference code: 197504 Export Date: 18 March 2024 Correspondence Address: Kimathi, S.; Budapest University of Technology and Economics, Hungary; email: kimathi@iit.bme.hu</pre> </div> </div>