Picture of DNA strand

Pioneering chemical biology & medicinal chemistry through Open Access research...

Strathprints makes available scholarly Open Access content by researchers in the Department of Pure & Applied Chemistry, based within the Faculty of Science.

Research here spans a wide range of topics from analytical chemistry to materials science, and from biological chemistry to theoretical chemistry. The specific work in chemical biology and medicinal chemistry, as an example, encompasses pioneering techniques in synthesis, bioinformatics, nucleic acid chemistry, amino acid chemistry, heterocyclic chemistry, biophysical chemistry and NMR spectroscopy.

Explore the Open Access research of the Department of Pure & Applied Chemistry. Or explore all of Strathclyde's Open Access research...

A quaternion-based attitude tracking controller for robotic systems

Biggs, James (2015) A quaternion-based attitude tracking controller for robotic systems. In: IMA Conference on Mathematics of Robotics, 2015-09-09 - 2015-09-11, University of Oxford, St Anne's College.

Text (Biggs-IMA-Maths-of-Robotics-2015-A-quaternion-based-attitude-tracking-controller-for-robotic-systems)
Accepted Author Manuscript

Download (292kB)| Preview


    This paper presents a new quaternion-based attitude tracking controller. A general Lyapunov function is defined whose derivative is control dependent and a control is chosen to guarantee asymptotic stability of the zero-error state. The corresponding closed loop error dynamics are shown to reduce to a simple 1 degree of freedom description in terms of the eigen-axis angle error. The main contribution of this paper is to present a special case where the closed-loop error dynamics reduce to a simple linear oscillator description (without the need for linearisation). This means that the controller can be tuned to guarantee exponentially fast tracking with a damped response and without oscillation.