Akademik Veri Yönetim Sistemi
Tezin Türü: Yüksek Lisans
Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Havacılık ve Uzay Mühendisliği Bölümü, Türkiye
Tezin Onay Tarihi: 2014
Tezin Dili: İngilizce
Öğrenci: Segun Arayibi
Danışman: OZAN TEKİNALP
Özet:In this thesis, a leader-follower approach is employed to make two unmanned aircrafts fly in a fixed geometrical formation. The first aircraft in the formation is designated as leader and the second is treated as the follower. The leader maintains a prescribed trajectory while the follower tracks and maintains a fixed relative distance from its leader. Since the associated kinematic equations are nonlinear, the relative guidance of the follower using two nonlinear control approaches, the Lyapunov based control algorithm and the State Dependent Riccati Equation, (SDRE) based algorithms are proposed. After the formation control problem has been solved, the follower must fly in certain attitudes for it to realize the desired flight paths needed to fly in the desired geometrical formation. This is called the attitude control problem. Simulations and tests of our proposed algorithms were carried out using a linear model of the SIG RASCAL 110 UAV for both the leader and follower UAV. Lyapunov and SDRE algorithm were used to solve the formation control problem, while linear quadratic tracking, (LQT) controllers were used on the linear models for the attitude control problems.