Simultaneous attitude and position tracking using dual quaternion parameterized dynamics

https://m2.mtmt.hu/ hun 2026-04-16 04:36 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 Andódy Katalin (BME admin4) true 5334791 2025-12-19T10:16:01.102+0000 2025-12-19T10:16:01.017+0000 Author 10085779 /api/author/10085779 Kimathi Stephen (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 Andódy Katalin (BME admin4) true true false true 25 25 /api/publicationtype/25 PublicationType Könyvrészlet 2 true 25 BookChapter true 10000312 Conference paper true 25 25 /api/publicationtype/25 PublicationType Könyvrészlet 2 true 25 BookChapter /api/subtype/10000312 Konferenciaközlemény SubType Konferenciaközlemény (Könyvrészlet) 228 true 10000312 true 1 /api/category/1 Category Tudományos true 1 Kimathi, S. Simultaneous attitude and position tracking using dual quaternion parameterized dynamics 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 Angol true 2 false true 10939 true 10017 /api/country/10017 Country Amerikai Egyesült Államok true 13 /api/city/10939 City Piscataway (NJ), Amerikai Egyesült Államok 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 [szerk.]. 22nd IEEE World Symposium on Applied Machine Intelligence and Informatics, SAMI 2024: Proceedings. 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(2024) Megjelent: 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="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> ;    <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="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</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> (szerk.) </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"> Konferencia helye, ideje: <span class="location">Stará Lesna, Szlovákia <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">Institute of Electrical and Electronics Engineers (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">Nyelv: Angol | </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">Befoglaló link(ek):</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="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 1</span> | Független: 0 | Függő: 1 | Nem jelölt: 0 | Scopus jelölt: 1 | WoS/Scopus jelölt: 1 | DOI jelölt: 1 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;34742516&sort=publishedYear,desc&sort=title"> Idézett közlemények száma: 1 </a> </div> <div class="mtid"><span class="long-pub-mtid">Közlemény: 34742516</span> | <span class="status-data status-ADMIN_APPROVED"> Admin láttamozott </span> <span class="long-book-mtid">Befoglaló: 34531738</span> Forrás Idéző | <span class="type-subtype">Könyvrészlet ( Konferenciaközlemény ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">Scopus</span> </div> <div class="lastModified">Utolsó módosítás: 2024.11.19. 11:24 Andódy Katalin (BME admin4) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</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>