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master's thesis
Razvoj adaptivnog regulatora za Mjesečevo vozilo
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:604714
Matleković, Lea
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Matleković, L. (2020). Razvoj adaptivnog regulatora za Mjesečevo vozilo (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:604714

Matleković, Lea. "Razvoj adaptivnog regulatora za Mjesečevo vozilo." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:604714

Matleković, Lea. "Razvoj adaptivnog regulatora za Mjesečevo vozilo." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:604714

Matleković, L. (2020). 'Razvoj adaptivnog regulatora za Mjesečevo vozilo', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:604714

Matleković L. Razvoj adaptivnog regulatora za Mjesečevo vozilo [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:604714

L. Matleković, "Razvoj adaptivnog regulatora za Mjesečevo vozilo", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:604714

Metadata
TitleRazvoj adaptivnog regulatora za Mjesečevo vozilo
Title (english)Development of an adaptive controller for a lunar rover
AuthorLea Matleković
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Ljudska znatiželja ne poznaje granice. Nakon prvih ljudi u Svemiru sve je veća ambicija ze slanjem robota. Svemir nam je i dalje velika enigma i želimo na što sigurniji način istražiti sve njegove pojave. Tehnologija je napredovala do razine gdje mobilni roboti djeluju autonomno i obavljaju zadatke bez ljudske pomoći. Cilj ovoga rada je projektirati i primijeniti algoritam adaptivnog upravljanja na Mjesečevo vozilo LUVMI-X. U tu svrhu izrađen je matematički model vozila te dizajniran zakon upravljanja koristeći programski alat Simulink. Cilj regulatora je omogućiti praćenje puta, uzimajući u obzir klizanje kotača. Vozilo je modelirano u simulatoru Gazebo te je regulator implementiran i testiran.
Abstract (english)
Human curiosity is limitless. After sending the first human to outer space we started deploying robots. There are still many unanswered questions about the space and we want to find out the answers in a safe way. Developments in technology reached the level where mobile robots are acting autonomously and solving tasks without human help. In this thesis, an adaptive control algorithm for a lunar rover LUVMI-X will be developed. The controller is developed in the graphical programming environment Simulink and it uses a simplified kinematic model of the vehicle. The goal is to achieve path tracking, taking into account the wheel slip. The vehicle model and controller are implemented and tested in the Gazebo simulator.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:604714
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 on2023-01-13 09:16:38