Dual-Quaternion Tracking Loops for Spacecraft Screw Motion
Abstract
This paper is concerned with pose and pose rate control of a rigid body. The proposed control approach contains an inner loop that tracks the desired pose rate command and an outer loop that tracks the desired pose command. The control algorithm uses the unit dual quaternion as a measure of pose errors to achieve tracking via instantaneous screw motion. The resulting tracking error equation is directly related to the screw motion parameters and can be used to determine the controller gains. The paper discusses the stability of the new algorithm and presents its performance via simulation.
Fields of Study & Subjects
Teleoperation and Haptic Systems
Adaptive Control of Nonlinear Systems
Dynamics and Control of Mechanical Systems
Publication details
- Journal / source
- Journal of Guidance Control and Dynamics
- Publisher
- American Institute of Aeronautics and Astronautics (AIAA)
- Volume
- 49
- Issue
- 3
- Pages
- 852–868
- Publication date
- 16 February 2026
- Language
- EN