Department of Mechatronics Engineering
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Browsing Department of Mechatronics Engineering by Author "ALWAFI, Husein"
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Item ATTITUDE AND ALTITUDE CONTROL OF TWO WHEEL TRIROTOR HYBRID ROBOT(2013-05-21) ALWAFI, Husein; İRFANOĞLU, Bülent; ARIKAN, Kutluk BilgeTwo Wheel Tri-Rotor (2W3R) hybrid robot that can move on ground, hover and navigate in air, is a novel system studied in this thesis. Physical structure of the system had been built in Flying Robotics Laboratory by undergraduate students as a course project in Mechatronics Department at Atılım University. Core of this thesis is to design controllers to stabilize and control the system on its hovering conditions. Stabilization and control of roll, yaw, pitch, and the altitude dynamics using the propulsion units are studied. Nonlinear equations of motion of the physical system are first derived, and then state feedback linearization technique and Linear Quadratic Regulator (LQR) are used, and control systems are developed in Matlab Simulink.