This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional freedom to self-regulate the progress along the path, is an appealing trade-off. Towards this end, we extend the well-established dual quaternion-based pose-tracking method into a pose-following control law. Specifically, we derive the equations of motion for the full pose error between the geometric reference and the rigid body in the form of a dual quaternion and dual twist. Subsequently, we formulate an almost globally asymptotically stable control law. The global attractivity of the presented approach is validated in a spatial example, while its benefits over pose-tracking are showcased through a planar case-study.

翻译：本工作聚焦于位姿跟随问题，这是路径跟踪的一种变体，其目标是在附着移动参考系的情况下，引导系统沿路径调整位置与姿态。在考虑沿路径自主调节行进自由度的前提下实现全身运动控制，构成了一种具有吸引力的权衡方案。为此，我们将成熟的对偶四元数位姿跟踪方法扩展为位姿跟随控制律。具体而言，我们以对偶四元数和对偶旋量形式，推导了几何参考系与刚体间完整位姿误差的运动方程。随后，我们设计了一种近乎全局渐近稳定的控制律。通过空间实例验证了该方法的全局吸引性，并通过平面案例研究展示了其相较于位姿跟踪的优越性。