{"id":"https://openalex.org/W1998511116","doi":"https://doi.org/10.1109/acc.2013.6580582","title":"Simultaneous position and attitude control without linear and angular velocity feedback using dual quaternions","display_name":"Simultaneous position and attitude control without linear and angular velocity feedback using dual quaternions","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W1998511116","doi":"https://doi.org/10.1109/acc.2013.6580582","mag":"1998511116"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6580582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022051100","display_name":"Nuno Filipe","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nuno Filipe","raw_affiliation_strings":["School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077667229","display_name":"Panagiotis Tsiotras","orcid":"https://orcid.org/0000-0001-7563-4129"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Panagiotis Tsiotras","raw_affiliation_strings":["School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1083,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.95960959,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4808","last_page":"4813"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.9316772222518921},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.8989794254302979},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.826511561870575},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8040993213653564},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.7796988487243652},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.7608774900436401},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6086335778236389},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4941604435443878},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.4708399772644043},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4505957067012787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42855870723724365},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"Rigid body dynamics","score":0.41788309812545776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3001454770565033},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2790389060974121},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22217822074890137},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.1866590678691864},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.18444210290908813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1670747697353363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14535459876060486},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10810479521751404}],"concepts":[{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.9316772222518921},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.8989794254302979},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.826511561870575},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8040993213653564},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.7796988487243652},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.7608774900436401},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6086335778236389},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4941604435443878},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.4708399772644043},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4505957067012787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42855870723724365},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.41788309812545776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3001454770565033},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2790389060974121},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22217822074890137},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.1866590678691864},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.18444210290908813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1670747697353363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14535459876060486},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10810479521751404},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2013.6580582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:smartech.gatech.edu:1853/53247","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/53247","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4620316779","display_name":null,"funder_award_id":"FA9453-13-C-0201","funder_id":"https://openalex.org/F4320338294","funder_display_name":"Air Force Research Laboratory"},{"id":"https://openalex.org/G5683993009","display_name":null,"funder_award_id":"FA9453","funder_id":"https://openalex.org/F4320338294","funder_display_name":"Air Force Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320306113","display_name":"U.S. Department of State","ror":"https://ror.org/03vvynj75"},{"id":"https://openalex.org/F4320332451","display_name":"Bureau of Educational and Cultural Affairs","ror":"https://ror.org/01nbmrk54"},{"id":"https://openalex.org/F4320338294","display_name":"Air Force Research Laboratory","ror":"https://ror.org/02e2egq70"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W645921674","https://openalex.org/W1500796970","https://openalex.org/W1982520234","https://openalex.org/W1983473126","https://openalex.org/W1994268222","https://openalex.org/W2005282752","https://openalex.org/W2018431869","https://openalex.org/W2021255990","https://openalex.org/W2032029126","https://openalex.org/W2046287268","https://openalex.org/W2060465646","https://openalex.org/W2076555782","https://openalex.org/W2089090953","https://openalex.org/W2101413622","https://openalex.org/W2104899332","https://openalex.org/W2108998592","https://openalex.org/W2109656638","https://openalex.org/W2111096969","https://openalex.org/W2115252495","https://openalex.org/W2120530757","https://openalex.org/W2121349631","https://openalex.org/W2124228020","https://openalex.org/W2129092695","https://openalex.org/W2145741013","https://openalex.org/W2170553290","https://openalex.org/W3186624155","https://openalex.org/W6672804221"],"related_works":["https://openalex.org/W1547662599","https://openalex.org/W4233673530","https://openalex.org/W2329279984","https://openalex.org/W2026335270","https://openalex.org/W631019632","https://openalex.org/W1998511116","https://openalex.org/W2914794850","https://openalex.org/W2510951092","https://openalex.org/W2478457746","https://openalex.org/W3128540797"],"abstract_inverted_index":{"In":[0],"this":[1,31,57],"paper,":[2],"we":[3],"suggest":[4],"a":[5,19,69],"new":[6],"representation":[7,32],"for":[8,63],"the":[9,64,99,102],"combined":[10,46,92],"translational":[11],"and":[12,48,66,73,76,86,94,106,113],"rotational":[13],"dynamic":[14],"equations":[15],"of":[16,18,24,68,101],"motion":[17],"rigid":[20,70,103],"body":[21,71,104],"in":[22],"terms":[23],"dual":[25,53],"quaternions.":[26,54],"We":[27,55],"show":[28,56],"that":[29],"with":[30,72,85],"it":[33],"is":[34],"relatively":[35],"straightforward":[36],"to":[37,45],"extend":[38],"existing":[39,82],"attitude":[40,49,67,95],"controllers":[41,50,62,84],"based":[42,51,80],"on":[43,52,81],"quaternions":[44],"position":[47,65,93],"by":[58],"developing":[59],"setpoint":[60],"nonlinear":[61],"without":[74,87],"linear":[75,112],"angular":[77,88,114],"velocity":[78,89,115],"feedback":[79],"attitude-only":[83],"feedback.":[90],"The":[91],"velocity-free":[96],"controller":[97],"exploits":[98],"passivity":[100],"dynamics":[105],"can":[107],"be":[108],"used":[109],"when":[110],"no":[111],"measurements":[116],"are":[117],"available.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}