抄録
This paper proposes a model predictive control method using a dual quaternion as a state variable of a rigid body pose. A dual quaternion is an 8-dimensional real algebra which has two quaternions and a nilpotent ϵ and can express not only an orientation but also a position of a rigid body. The dual quaternion representation enables to reduce the computation time and avoid the singularity of the rigid body pose. It is shown that the gradient of the objective function can be calculated analytically. At the end of this paper, the proposed method is applied to a numerical simulation of stabilization around the origin using a model of a fully actuated hexroter. The simulation result shows that the proposed method can avoid singularity, and the computation time is shortened.
