الفهرس 
Differential form of the Equations of motionOnly 14 pages are availabe for public view
 |  | from | 121 |  |  |
| | | from | 121 | | |
Abstract
This thesis is devoted to study the problem of optimal control of a rigid body motion without angular velocity measurements with the help of three internal rotors that effected by internal frictions. The present study discusses three different cases for the parameters that can be used to describe the kinematics orientation of the rigid body, these parameters are: Euler parameters, Cayley-Rodrigues parameters (CRPs) and modified Rodrigues parameters (MRPs). This thesis consists of four chapters : The first chapter is concerned with the equations of motion of a mechanical system of a rigid body carrying N rigid bodies. These equations are derived by using the D’Alembert-Lagrange principle.The second chapter is devoted to study the problem of optimal control of a rigid body rotation about the Euler axis with the help of three rotors with internal friction moments, using Euler parameters (quaternion).The third chapter is devoted to study the previous problem using CRPs. The fourth chapter is devoted to study the previous problem using MRPs. Numerical simulation in the thesis indicates the difference among these parameters in control purposes : The control in terms of the Euler parameters uses less control effort than either the control in terms of the CRPs or the control in terms of the MRPs. This implies that the Euler parameters are better than the CRPs or the MRPs in control purposes. The control in terms of the MRPs uses less control effort than the control in terms of the CRPs. Therefore, the MRPs are better controllable purposes than the CRPs.