Adaptive Model-Independent Tracking of Rigid Body Position and Attitude Motion with Mass and Inertia Matrix Identification using Dual Quaternions

Abstract

In this paper, we propose a nonlinear adaptive position and attitude tracking controller for a rigid body that requires no information about the mass and inertia matrix of the body. Moreover, we provide sufficient conditions on the reference trajectory that guarantee mass and inertia matrix identification. The controller is shown to be almost globally… (More)

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