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master's thesis
Modelsko prediktivno upravljanje mobilnim mehatroničkim sustavom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:305481
Adamović, Donatella
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Adamović, D. (2021). Modelsko prediktivno upravljanje mobilnim mehatroničkim sustavom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:305481

Adamović, Donatella. "Modelsko prediktivno upravljanje mobilnim mehatroničkim sustavom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:305481

Adamović, Donatella. "Modelsko prediktivno upravljanje mobilnim mehatroničkim sustavom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:305481

Adamović, D. (2021). 'Modelsko prediktivno upravljanje mobilnim mehatroničkim sustavom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:305481

Adamović D. Modelsko prediktivno upravljanje mobilnim mehatroničkim sustavom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:305481

D. Adamović, "Modelsko prediktivno upravljanje mobilnim mehatroničkim sustavom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:305481

Metadata
TitleModelsko prediktivno upravljanje mobilnim mehatroničkim sustavom
Title (english)Model predictive control of a mobile mehatronic system
AuthorDonatella Adamović
MentorMato Baotić (mentor)
Committee memberMato Baotić (predsjednik povjerenstva)
Committee memberVinko Lešić (član povjerenstva)
Committee memberBranimir Novoselnik (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-06, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Glavni cilj ove disertacije je razvoj odgovarajućeg modelsko prediktivnog regulatora (MPC) za upravljanje mobilnim mehatroničkim sustavom sa svesmjernim kotačima. Kao rješenje MPC regulatora dobiva se upravljački signal, a da su pritom zadovoljena sva ograničenja koja sustav uvodi (ograničenja na varijable stanja i na ulaze dinamičkog modela). Definiranje odgovarajući diskretni dinamički model pogodan za naponsko upravljanje te je zapisan u prostoru stanja, a zatim je isprojektiran MPC takav da sustav dovodi u ravnotežnu točku. Dodatno, problem nominalnog MPC-a je proširen tzv. steady-state target problemom kojim se omogućuje dovođenje sustava u stacionarnu točku različitu od nule. Razmotreni su rezultati simulacijskih eksperimenata za nekoliko scenarija upravljanja.
Abstract (english)
The main goal of this thesis is to develop an adequate model predictive controller (MPC) to control mobile mechatronic system with omnidirectional wheels. As a result of model predictive control, the input of a system is constructed while the constraints of a system are satisfied (input and state constraints of a dynamic model). Adequate discrete dynamic model of a system is defined, suitable for motor voltage control, state-space formulation is constructed and MPC is designed so that system goes to an equilibrium point. Additionally, the nominal MPC problem is extended with the so-called steady-state target problem which allows guiding the system to a steady-state point other than zero. Results of simulation experiments for different control scenarios are discussed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:305481
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 14:22:42