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undergraduate thesis
Implementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. urn:nbn:hr:168:945096
Čirjak, Anđela
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Čirjak, A. (2016). Implementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:945096

Čirjak, Anđela. "Implementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:945096

Čirjak, Anđela. "Implementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:945096

Čirjak, A. (2016). 'Implementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:945096

Čirjak A. Implementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2016 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:945096

A. Čirjak, "Implementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:168:945096

Metadata
TitleImplementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama
Title (english)Implementation and evaluation of geometric control of multirotor aerial vehicle
AuthorAnđela Čirjak
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
Committee memberTomislav Haus (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2016-07-11, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Na poˇcetku završnog rada predstavljene su Liejeve grupe, SO(3) i SE(3). Objašnjen je algoritam geometrijskog upravljanja na prostoru SE(3) preuzet iz [6]. Cilj rada bio je implementirati algoritam te dobiveni regulator usporediti s nekim od dostupnih PID regulatora. Pokazana je implementacija u Pythonu i ROS-u na heksakopteru Firefly. Testiranje je provedeno u simulatoru Gazebo. Pokazani su odzivi pozicije, kuta i brzine dobiveni zadavanjem skokovite promjene pozicije i na kontinuiranim trajektorijama. U zadnjem dijelu uspored¯en je implementirani geometrijski kontroler s PID regulatorom. Za usporedbu su dani prikazi odziva pozicije, kuta i brzine.
Abstract (english)
In the first part Lie groups, SO(3) and SE(3), are presented. The objective of this work is to implement the geometric control algorithm from [6] and to compare it with a PID controller. The algorithm is implemented in Python and it is evaluated for the Gazebo model of a hexacopter vehicle (Firefly) within ROS environment. The controller is tested for step position reference and continuous trajectories. In a result section, the responses of position, angle and velocity are presented. In the final part, the implemented geometric controller is compared with a PID controller. Again, the position, angle and velocity responses are given for a comparison.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:945096
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2018-02-06 08:17:28