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master's thesis
Navigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:245202
Borković, Goran
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Borković, G. (2023). Navigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:245202

Borković, Goran. "Navigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:245202

Borković, Goran. "Navigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:245202

Borković, G. (2023). 'Navigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 30 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:245202

Borković G. Navigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 June 30] Available at: https://urn.nsk.hr/urn:nbn:hr:168:245202

G. Borković, "Navigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:245202

Metadata
TitleNavigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima
Title (english)Navigation and adaptive control of marine robots using data-driven methods
AuthorGoran Borković
MentorNikola Mišković (mentor)
Committee memberNikola Mišković (član povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberĐula Nađ (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-14, Croatia
Abstract
Metode zasnovane na podacima su sve zastupljenije u području automatike zbog sve lakše dohvatljivosti podataka. Metode su jako slične opće korištenom i priznatom algoritmu modelskog prediktivnog upravljanja (MPC). Glavni nedostatak MPC-a je potreba za identifikacijom modela procesa kojim se upravlja. Upravo tu nastupaju metode zasnovane na podacima koje preskaču identifikaciju te ponašanje modela dobivaju direktno iz podataka. U ovom radu se opisuje razvoj takve jedne metode u MATLAB-u te njena primjena na područje pomorske robotike. Rezultati se, u konačnici, uspoređuju s onim dobivenim korištenjem MPC i PID regulatora kao oblika najčešće korištenih regulatora u području pomorske robotike, a i šire.
Abstract (english)
Data-driven methods are increasingly used in the field of control systems due to the ever-easier retrieval of data. The methods are very similar to the generally used and recognized model predictive control (MPC) algorithm. The main disadvantage of MPC is the need to obtain the plant model. This is where data-driven methods come in and obtain the model behavior directly from the data without the need for identification. This master's thesis paper describes the development of such a method in MATLAB and its application in the field of marine robotics. The results are, ultimately, compared with those obtained using MPC and PID controllers witch represent the most commonly used forms of controllers in the field of marine robotics and beyond.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:245202
Study programmeTitle: Information and Communication Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-10-11 08:29:33