prikaz prve stranice dokumenta Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora
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master's thesis
Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:344161
Jerković, Nediljko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Jerković, N. (2019). Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:344161

Jerković, Nediljko. "Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:344161

Jerković, Nediljko. "Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:344161

Jerković, N. (2019). 'Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:344161

Jerković N. Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:344161

N. Jerković, "Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:344161

Metadata
TitleSustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora
Title (english)Autonomous vehicle trajectory tracking using linear quadratic regulator
AuthorNediljko Jerković
MentorJadranko Matuško (mentor)
Committee memberJadranko Matuško (predsjednik povjerenstva)
Committee memberŠandor Ileš (član povjerenstva)
Committee memberŽeljko Jakopović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-07-18, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Glavni cilj ovog rada je projektirati linearni kvadratični regulator koji prati trajektoriju idealnu trajektoriju kojom automobil treba voziti. Trebalo je osigurati preko linearnog kvadratičnog regulatora što bolje praćenje reference. U uvodu ovoga rada prošlo se je kroz temu povijesti autonomnog vozila kao i podijele autonomnih vozila. U nastavku rada obrađene su pojmovi za shvaćanje teme. Obrađeni pojmovi su linearni sustavi, stabilnost sustava, upravljivost i osmotrivost sustava, Ljapunova stabilnost te je napravljena dinamika automobila kako bi se mogao projektirati linearni kvadratični regulator. Na kraju su se rezultati dobiveni simulacijom provjerili na 1/10 skaliranom modelu trkaćeg automobila.
Abstract (english)
The main objective of this paper is to design linear quadratic regulator that follows the trajectory of the ideal trajectory for driving. It should be provided through a linear quadratic regulator to better track the reference. In the introduction to this paper, it was about history of autonomous car and the division of autonomus vehicle. In the following section, concepts for understanding the topic are explained. Explained terms are linear system, stability of the system, Controllability and Observability, Ljapunov stability and car dynamics have been designed to design a linear quadratic regulator. In the end, the results obtained by simulation were checked on the 1/10 scaled model of the racing car.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:344161
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2020-01-07 18:43:13