prikaz prve stranice dokumenta Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima
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master's thesis
Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. urn:nbn:hr:168:100793
Car, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

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Car, M. (2015). Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:100793

Car, Marko. "Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:100793

Car, Marko. "Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:100793

Car, M. (2015). 'Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:100793

Car M. Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2015 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:100793

M. Car, "Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:168:100793

Metadata
TitlePrimjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima
Title (english)UAV control under windy conditions based on adaptive Hsia method
AuthorMarko Car
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberNikola Mišković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2015-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu dizajniran je i implementiran adaptivno-robusni algoritam upravljanja koji osigurava stabilnost bespilotne letjelice u vjetrovitim uvjetima. Razvijeno je virtualno okruženje u Gazebo ROS simulatoru gdje su korišteni već postojeći paketi za simulaciju dinamike motora bespilotne letjelice i poremećaja uzrokovanih vjetrom. Implementirano je kompletno upravljanje letjelicom u virtualnom okruženju, ugođeni su PID parametri algoritma upravljanja te je ispitan rad adaptivno-robusnog algoritma. Nakon testiranja u simulatoru, na bespilotnoj letjelici Arducopter implementirano je upravljanje visoke razine s adaptivno-robusnim regulatorom. Razmatrane su dvije strukture upravljanja, jednopetljasta i dvopetljasta. Nakon testiranja obje strukture upravljanja u laboratorijskom okruženju testiran je rad predloženog adaptivno-robusnog algoritma.
Abstract (english)
In this thesis a robust adaptive control algorithm is designed and implemented. The task of such a controller is to ensure stability of an UAV in windy conditions. Virtual environment is developed in the Gazebo ROS simulator to simulate wind disturbances on a quadcopter UAV. The control algorithm, which consists of four cascade loops with PID controller: angle, rate, position and speed; was implemented and tested in a virtual environment. On top of, a robust and adaptive controller structure has been derived. After successful simulation verification, algorithm was tested in an emulated wind disturbance laboratory environment by conducting experiments with and without robust and adaptive controller.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:100793
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 on2018-02-06 08:09:15