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doctoral thesis
Primjena vlastitih oscilacija u vođenju i upravljanju plovilima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. urn:nbn:hr:168:682779
Mišković, Nikola
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Mišković, N. (2010). Primjena vlastitih oscilacija u vođenju i upravljanju plovilima (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:682779

Mišković, Nikola. "Primjena vlastitih oscilacija u vođenju i upravljanju plovilima." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:682779

Mišković, Nikola. "Primjena vlastitih oscilacija u vođenju i upravljanju plovilima." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:682779

Mišković, N. (2010). 'Primjena vlastitih oscilacija u vođenju i upravljanju plovilima', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:682779

Mišković N. Primjena vlastitih oscilacija u vođenju i upravljanju plovilima [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2010 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:682779

N. Mišković, "Primjena vlastitih oscilacija u vođenju i upravljanju plovilima", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2010. Available at: https://urn.nsk.hr/urn:nbn:hr:168:682779

Metadata
TitlePrimjena vlastitih oscilacija u vođenju i upravljanju plovilima
Title (english)Use of Self–Oscillations in Guidance and Control of Marine Vessels
AuthorNikola Mišković
MentorZoran Vukić (mentor)
Committee memberVesna Županović (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2010-04-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Universal decimal classification
(UDC)		621.3 - Electrical engineering
Abstract
Ova disertacija predstavlja identifikacijsku metodu temeljenu na vlastitim oscilacijama (IVO) koja se koristi u svrhu vođenja i upravljanja plovilima (podvodnim i površinskim). Predloženi postupak je opisan za opću klasu nelinearnih sustava i dan je opći algoritam, temeljen na matriènom zapisu, za statièke linearne vremenski nepromjenjive sustave uz modifikacije za diskretne sustave, astatističke sustave i sustave s transportnim kašnjenjem. Posebna je pažnja posvećena klasi afinih nelinearnih modela sustavâ koji se koriste za opis dinamike plovila. Glavna prednost predložene metode je primjenjivost tijekom rada na terenu i vremenska štedljivost. IVO postupak je eksperimentalno ispitan na dvije bespilotne ronilice i bespilotnom površinskom plovilu, i dana je usporedba sa konvencionalnim identifikacijskim postupcima, koja dokazuje toènost predloženog postupka na stvarnim plovilima koja rade u terenskim uvjetima. Rezultati identifikacije su iskorišteni za projektiranje regulatorâ kursa, regulatorâ udaljenosti i regulatorâ za praæenje linije. Eksperimentalni rezultati dobiveni na stvarnim plovilima su prezentirani u disertaciji.
Abstract (english)
This dissertation presents an identification method based on self–oscillations (IS–O) used for the purpose of guidance and control of marine vessels (underwater and surface). The proposed method is described for a general class of nonlinear systems and a general, matrix based algorithm is given for static (Type 0) linear time invariant systems with its modification for discrete–time systems, astatic systems (Type k) and systems with delays. Special attention is devoted to a class of affine nonlinear system models which are used to describe the dynamics of marine vehicle. The main advantage of the proposed method is its applicability during in the field operation and time parsimony. The IS–O method is experimentally tested on two unmanned underwater vehicles and an unmanned surface marine vessel, and comparison to conventional identification methods is given, proving the accuracy of the proposed method on real marine vehicles operating in the field conditions. The identification results are used for the design of heading controllers, distance keeping controllers and line following controllers. Experimental results obtained from real marine vehicles are presented in the thesis.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:682779
Promotion2010
Study programmeTitle: Doctoral study programme "Electrical Engineering and Computing"
Study programme type: university
Study level: postgraduate
Academic / professional title: doktor/doktorica znanosti, po-dručje tehničkih znanosti (doktor/doktorica znanosti, po-dručje tehničkih znanosti)
Type of resourceText
Extentix, 189 str. : graf. prikazi
File originBorn digital
Access conditionsOpen access
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Created on2024-03-19 12:51:25