IEEE - Institute of Electrical and Electronics Engineers, Inc. - On Path-Lifting Mechanisms and Unwinding in Quaternion-Based Attitude Control

Author(s): Christopher G. Mayhew ; Ricardo G. Sanfelice ; Andrew R. Teel
Sponsor(s): IEEE Control Systems Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Volume: 58
Page Count: 13
Page(s): 1,179 - 1,191
ISSN (Paper): 0018-9286
ISSN (Online): 1558-2523
DOI: 10.1109/TAC.2012.2235731
Regular:

The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Because the space of unit quaternions constitutes a double cover... View More

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