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Dual Quaternion Based Finite-Time Tracking Control for Mechatronic Systems with Actuation Allocation

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Published
  • Lichao Sun
  • Yanpei Huang
  • Ziwei Wang
  • Bo Xiao
  • Eric Yeatman
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Publication date10/10/2022
Host publication2022 27th International Conference on Automation and Computing (ICAC)
PublisherIEEE
Number of pages6
ISBN (electronic)9781665498074
ISBN (print)9781665498081
<mark>Original language</mark>English

Abstract

This paper investigates the tracking control performance regulation and actuation allocation of mechatronic systems subject to coupling motions. In particular, the kinematic and dynamic model is described by dual quaternion, which captures the coupling effect between translation and rotation movements. Considering external disturbances and system uncertainties, a non-singular fast terminal sliding controller is then developed to ensure finite-time tracking performance. In addition, the unwinding problem caused by the redundancy of dual quaternion is addressed with the help of a novel attitude error function. Furthermore, an improved simplex method is designed for distributing the developed control commands to proper actuators. Numerical simulations demonstrate the effectiveness with respect to disturbance suppression, fast tracking, high accuracy, and finite-time stability of the proposed method.

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©2022 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.