Nonlinear continuous quaternion-based attitude controller composing augmented dynamic

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机构：
[1] [1,Septanto, Harry
[2] Trilaksono, Bambang Riyanto
[3] Syaichu-Rohman, Arief
[4] Poetro, Ridanto Eko
[5] Ibrahim, Adrianto Ravi
来源：
Septanto, Harry | 1600年 / ICIC Express Letters Office卷 / 08期
关键词：
Mobile robots;
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摘要：
This paper proposes a novel nonlinear continuous quaternion-based attitude control system composing augmented dynamic that guaranteed to be able to regulate any initial physical states (quaternion-based attitude and angular velocity) asymptotically. The effectiveness of the designed system is verified through simulations. In addition, the applicability of the proposed control method is also experimentally verified via mobile robot as a single axis rotational platform.
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