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master's thesis
Modelsko prediktivno upravljanje autonomnim plovilom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. urn:nbn:hr:168:705670
Fudurić, Zvonimir
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Fudurić, Z. (2016). Modelsko prediktivno upravljanje autonomnim plovilom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:705670

Fudurić, Zvonimir. "Modelsko prediktivno upravljanje autonomnim plovilom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:705670

Fudurić, Zvonimir. "Modelsko prediktivno upravljanje autonomnim plovilom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:705670

Fudurić, Z. (2016). 'Modelsko prediktivno upravljanje autonomnim plovilom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 30 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:705670

Fudurić Z. Modelsko prediktivno upravljanje autonomnim plovilom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2016 [cited 2024 June 30] Available at: https://urn.nsk.hr/urn:nbn:hr:168:705670

Z. Fudurić, "Modelsko prediktivno upravljanje autonomnim plovilom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:168:705670

Metadata
TitleModelsko prediktivno upravljanje autonomnim plovilom
Title (english)Model predictive control of an autonomous vessel
AuthorZvonimir Fudurić
MentorNikola Mišković (mentor)
Committee memberNikola Mišković (predsjednik povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberMato Baotić (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
Alokacija aktuatora je postupak pretvaranja signala regulatora u potrebne sile i momente kako bi se ostvarila željena ukupna sila i moment koji djeluju na vozilo. Upravljanje nadaktuiranim autonomnim plovilima je složen zadatak iz razloga što ne postoji jednoznačno rješenje problema inverzne alokacije aktuatora. U sklopu diplomskog rada implementiran je algoritam modelsko prediktivnog upravljanja alokacijom aktuatora autonomnog plovila. Platformom se upravlja pomoću četiri potisnika (aktuatora) raspoređenih u X-konfiguraciji kojima se ostvaruje gibanje u tri stupnja slobode (napredovanje, zanošenje i zaošijanje). Fizikalna ograničenja aktuatora su uzeta u obzir. Algoritam je realiziran u ROS-u. Poseban naglasak stavljen je na analizu vladanja algoritma prilikom kvara jednog ili više aktuatora.
Abstract (english)
Allocation of actuators is the process of converting controller signal in the necessary forces and torques in order to achieve the desired total force and torque that act on vehicle. Control of overactuated autonomous vessels is a complex task because there is no unique solution to the problem of inverse allocation of actuators. As part of the master's thesis, algorithm for model-based predictive control allocation of actuators for autonomous vessel has been implemented. The platform is controlled by the four thrusters (actuators) disposed in the X-configuration which achieves movement in three degrees of freedom (surge, sway and yaw). Physical limitations of the actuators are taken into consideration. The algorithm was implemented in ROS. Particular emphasis is placed on analysis of algorithm in case of failure one or more actuators.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:705670
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 08:48:07