prikaz prve stranice dokumenta Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela
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master's thesis
Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:626390
Kovač, Marin
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Kovač, M. (2022). Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:626390

Kovač, Marin. "Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:626390

Kovač, Marin. "Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:626390

Kovač, M. (2022). 'Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:626390

Kovač M. Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:626390

M. Kovač, "Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:626390

Metadata
TitleUpravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela
Title (english)Trajectory following controllers for multicopter UAV subject to disturbances and model uncertainty
AuthorMarin Kovač
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-11, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U radu je predstavljena teorijska podloga za MPC algoritam sa observerom poremecaja, INDI i backstepping upravljanje. Kroz testove provedene u simulaciji uz konstantu smetnju vjetra, udare vjetra, promijenjenu masu letjelice te promijenjenog aerodinamičkog koeficijenta pokazano je da MPC ima najbolje performanse. Također je pokazano da INDI upravljanje ima sličan učinak kao MPC bez observera poremećaja ili punog modela letjelice. Taj učinak i jednostavnost implementacije INDI metode čini je atraktivnim izborom za velike letjelice kojima je potrebno aktivno otklanjanje poremećaja u letu.
Abstract (english)
During the the thesis a detailed theoretical background was given for a robust version of the MPC with an EKF based disturbance observer, the incremental nonlinear dynamical inversion and the Backstepping controllers. During extensive simulation that included tests with constant wind, wind gusts, variable mass and drag coefficient tests it was shown that the MPC with the disturbance observer outperforms all the other controllers. The tests also showed that the INDI preforms very similarly as the MPC without the need for the observer or a full model of the aircraft. It was demonstrated that the realistic noise levels with a first order filter are not a problem for the implemented INDI controller. Furthermore it was concluded that for large UAVs the frequency of the INDI controller is less significant for performance as they react slowly to changes due to their high inertia. Additionally its implementation simplicity and computational efficiency make it an interesting choice for large industry level UAV systems that need to be certified.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:626390
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 15:20:12