Title: Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions,
Abstract: In this paper, we address the rigid body pose stabilization problem using
dual quaternion formalism. We propose a hybrid control strategy to design a
switching control law with hysteresis in such a way that the global asymptotic
stability of the closed-loop system is guaranteed and such that the global
attractivity of the stabilization pose does not exhibit chattering, a problem
that is present in all discontinuous-based feedback controllers. Using
numerical simulations, we illustrate the problems that arise from existing
results in the literature -- as unwinding and chattering -- and verify the
effectiveness of the proposed controller to solve the robust global pose
stability problem.