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: Vahid Bashiri Bargoshadi
Danışman: ALİ TÜRKER KUTAY
Özet:This work is the study of tracking control of rigid body in a general way using a geometric approach. To achieve globally valid characteristics, it is necessary to study such a control problem in its own natural nonlinear space using differential geometric properties of the space. By linking the tracking control problem to the problem of stabilization of a single equilibrium of an error dynamics, a tracking controller in the general case of a compact Lie groups has been developed. Then, using Lassale invariance theorem convergence to one of the equilibrium points of error dynamics has been established. Behavior of the system around its equilibrium points is studied by linearizing the system, which proved the almost-global attractiveness of the desired equilibrium. The general control problem studied, in its special case of space of rotation matrices is applied to attitude control of a Quadrotor UAV. Performance of the controller is demonstrated through numerical simulations.