Pose Regulation via the Dual Unitary Group: An Application to Spacecraft Rendezvous

Six-degree-of-freedom (pose) control is often developed on the dual-quaternions since they provide an efficient representation for implementation and a unified translational and rotational approach to control design. In this article we present a control defined on the dual 2×2 unitary groups [DU(2)] which are isomorphic to the dual-quaternions. This formulation brings us to a natural setting for t...