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undergraduate thesis
Upravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:603374
Periša, Fran
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Periša, F. (2024). Upravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:603374

Periša, Fran. "Upravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:603374

Periša, Fran. "Upravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:603374

Periša, F. (2024). 'Upravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 28 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:603374

Periša F. Upravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 December 28] Available at: https://urn.nsk.hr/urn:nbn:hr:235:603374

F. Periša, "Upravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:603374

Metadata
TitleUpravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja
Title (english)Control of a quadrotor unmanned aerial vehicle using a time-varying state controller
AuthorFran Periša
MentorVladimir Milić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-09-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Basic Technical Sciences
Automatics
Abstract
Kroz ovaj je rad cilj uspješno primijeniti metodu upravljanja za praćenje referentne trajektorije na matematičkom modelu četverorotorske bespilotne letjelice, koristeći linearan vremenski promjenjiv regulator stanja temeljen na kvadratnom kriteriju optimalnosti. Kroz početak rada se uvode pojmovi i objašnjenja vezani uz teoriju optimalnog upravljanja poput Hamilton-Jacobi-Bellmanove jednadžbe te diferencijalne i algebarske Riccatijeve jednadžbe. Nadalje se opisuju metode rješavanja istih te postupak primjene i linearizacije nelinearnog sustava u oblik vremenski promjenljivog prostora stanja u koordinatama pogreške. Slijedi matematički opis kinematike i dinamike bespilotne letjelice te primjena prethodno objašnjene teorije na navedeni model kroz računalni alat Matlab. Definiranjem vlastitih te korištenjem postojećih funkcija u navedenome alatu, simuliraju se i uspoređuju slijeđenja dvaju referentnih trajektorija za linearizirani i nelinearizirani model letjelice te prikazuju značajke ponašanja lineariziranog modela, kao i upravljanja korištena za spomenute modele.
Abstract (english)
The aim of this bachelor’s thesis is to successfully apply a control method for reference trajectory tracking to the mathematical model of a quadrotor unmanned aerial vehicle, using a linear time-varying state regulator based on a quadratic optimality criterion. Thesis begins by introducing concepts and explanations related to optimal control theory, such as the Hamilton-Jacobi-Bellman equation and both differential and algebraic Riccati equations. The methods for solving these equations are then described, along with the process of linearizing the nonlinear system into a time-varying state-space representation in error coordinates. This is followed by a mathematical description of the kinematics and dynamics of the unmanned aerial vehicle, and the application of the previously explained theory to this model using the computational tool Matlab. By defining user functions and applying built-in functions and functions from Matlab toolboxes, simulations are performed to compare the tracking of two reference trajectories for both the linearized and nonlinear models of the aircraft. The results highlight the behavior of the linearized model and the control strategies used for both models.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:603374
Study programmeTitle: Mechatronics and Robotics
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-09-20 10:43:11