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master's thesis
Upravljanje impedancijom letjelice uz estimaciju krutosti okoline
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:147737
Lovrić, Ana
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Lovrić, A. (2019). Upravljanje impedancijom letjelice uz estimaciju krutosti okoline (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:147737

Lovrić, Ana. "Upravljanje impedancijom letjelice uz estimaciju krutosti okoline." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:147737

Lovrić, Ana. "Upravljanje impedancijom letjelice uz estimaciju krutosti okoline." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:147737

Lovrić, A. (2019). 'Upravljanje impedancijom letjelice uz estimaciju krutosti okoline', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:147737

Lovrić A. Upravljanje impedancijom letjelice uz estimaciju krutosti okoline [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:147737

A. Lovrić, "Upravljanje impedancijom letjelice uz estimaciju krutosti okoline", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:147737

Metadata
TitleUpravljanje impedancijom letjelice uz estimaciju krutosti okoline
Title (english)Impedance control of aerial vehicle with environment stiffness estimation
AuthorAna Lovrić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberMatko Orsag (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
Cilj je ovog diplomskog rada bilo poboljšanje algoritma upravljanja po impedanciji bespilotne letjelice u kontaktu s nepoznatim okruženjem. Ovo je postignuto uvođenjem rekonstruktora varijabli stanja okoline kojim se estimiraju nepoznati parametri okoline. U radu su teoretski razrađeni: konvencionalno upravljanje po impedanciji bespilotne letjelice, Kelvin - Voigt model viskoelastičnog materijala kojim je okolina opisana te prošireni Kalman filtar koji je korišten za estimaciju nepoznatih parametara okoline. Nadalje, rekonstruktor je testiran u otvorenoj upravljačkoj petlji na simulacijskom i eksperimentalnom skupu podataka. Obrađeno je i projektiranje regulatora kojim se generira referentni signal za impedancijski filtar. Parametri regulatora podešeni su na temelju vrijednosti parametara krutosti okoline dobivenog estimacijom.
Abstract (english)
The aim of this master thesis was to improve the impedance control algorithm of an unmanned aerial vehicle interacting with an unknown environment. This has been achieved by introducing an environment observer that estimates the unknown parameters of the environment. In this thesis the following are described: the standard approach to impedance control of an unmanned aerial vehicle, Kelvin - Voigt material model, used to define the unknown environment, and the Extended Kalman Filter, used for estimating the unknown environment parameters. Furthermore, the observer was validated in an open control loop using a simulation and experimental data set. Finally, a regulator was designed to generate the reference position for the impedance control filter. The parameters of the regulator were tuned using the estimated environment stiffness value.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:147737
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 19:46:16