{"id":"https://openalex.org/W1689658419","doi":"https://doi.org/10.23919/ecc.2013.6669564","title":"Rigid body motion tracking without linear and angular velocity feedback using dual quaternions","display_name":"Rigid body motion tracking without linear and angular velocity feedback using dual quaternions","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1689658419","doi":"https://doi.org/10.23919/ecc.2013.6669564","mag":"1689658419"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2013.6669564","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","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":["The 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":"The 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":["The 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":"The 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":6.6173,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.96287563,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"329","last_page":"334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/quaternion","display_name":"Quaternion","score":0.9436863660812378},{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.9348608255386353},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.8304483890533447},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7790744304656982},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.7206043004989624},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6742298007011414},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6265964508056641},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5758687257766724},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5414716005325317},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.492183119058609},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.4804370105266571},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4739515781402588},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47209781408309937},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4694972336292267},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.44570836424827576},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4338013231754303},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.4176720380783081},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.330968976020813},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.24071446061134338},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23559701442718506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21077963709831238},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.20840081572532654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18008312582969666},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17682453989982605},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14943557977676392},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0997467041015625}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.9436863660812378},{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.9348608255386353},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.8304483890533447},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7790744304656982},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.7206043004989624},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6742298007011414},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6265964508056641},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5758687257766724},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5414716005325317},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.492183119058609},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.4804370105266571},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4739515781402588},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47209781408309937},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4694972336292267},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.44570836424827576},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4338013231754303},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.4176720380783081},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.330968976020813},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.24071446061134338},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23559701442718506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21077963709831238},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.20840081572532654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18008312582969666},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17682453989982605},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14943557977676392},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0997467041015625},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.23919/ecc.2013.6669564","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.895.4521","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.895.4521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Panagiotis_Tsiotras/publication/261484135_Rigid_body_motion_tracking_without_linear_and_angular_velocity_feedback_using_dual_quaternions/links/5409ba280cf2df04e7481712.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.897.8912","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.897.8912","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://soliton.ae.gatech.edu/people/dcsl/papers/ecc13.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.900.7912","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.900.7912","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nt.ntnu.no/users/skoge/prost/proceedings/ecc-2013/data/papers/0831.pdf","raw_type":"text"},{"id":"pmh:oai:smartech.gatech.edu:1853/53251","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/53251","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W645921674","https://openalex.org/W1981004592","https://openalex.org/W1983473126","https://openalex.org/W1998511116","https://openalex.org/W2018431869","https://openalex.org/W2046287268","https://openalex.org/W2050774095","https://openalex.org/W2060465646","https://openalex.org/W2076555782","https://openalex.org/W2109656638","https://openalex.org/W2111096969","https://openalex.org/W2115252495","https://openalex.org/W2124228020","https://openalex.org/W2129092695","https://openalex.org/W2145741013"],"related_works":["https://openalex.org/W2914794850","https://openalex.org/W2510951092","https://openalex.org/W2019387011","https://openalex.org/W2026335270","https://openalex.org/W1998511116","https://openalex.org/W3022794659","https://openalex.org/W1977151399","https://openalex.org/W2359991182","https://openalex.org/W4214500069","https://openalex.org/W631266968"],"abstract_inverted_index":{"This":[0],"paper":[1],"takes":[2],"advantage":[3],"of":[4,10,18,20,26,70],"a":[5,21],"new,":[6],"recently":[7],"proposed":[8],"representation":[9],"the":[11],"combined":[12,32],"translational":[13],"and":[14,34,75,80],"rotational":[15],"dynamic":[16],"equations":[17],"motion":[19],"rigid":[22],"body":[23],"in":[24],"terms":[25],"dual":[27,40],"quaternions.":[28,56],"We":[29,57],"show":[30,58],"that":[31],"position":[33,74],"attitude":[35,76],"tracking":[36,52,89],"controllers":[37,53],"based":[38,54,84],"on":[39,55,85],"quaternions":[41],"can":[42],"be":[43],"developed":[44],"with":[45],"relatively":[46],"low":[47],"effort":[48],"from":[49],"existing":[50,87],"attitude-only":[51,88],"this":[59],"by":[60],"developing":[61],"an":[62,86],"almost":[63],"globally":[64],"asymptotically":[65],"stable":[66],"nonlinear":[67],"controller":[68,90],"capable":[69],"simultaneously":[71],"following":[72],"time-varying":[73],"profiles":[77],"without":[78,91],"linear":[79],"angular":[81,92],"velocity":[82,93],"feedback":[83],"feedback.":[94]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}