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undergraduate thesis
Robusno upravljanje dinamičkim sustavima promjenjivim s obzirom na parametre
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:352877
Periša, Bartol
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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

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Periša, B. (2024). Robusno upravljanje dinamičkim sustavima promjenjivim s obzirom na parametre (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:352877

Periša, Bartol. "Robusno upravljanje dinamičkim sustavima promjenjivim s obzirom na parametre." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:352877

Periša, Bartol. "Robusno upravljanje dinamičkim sustavima promjenjivim s obzirom na parametre." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:352877

Periša, B. (2024). 'Robusno upravljanje dinamičkim sustavima promjenjivim s obzirom na parametre', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 28 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:352877

Periša B. Robusno upravljanje dinamičkim sustavima promjenjivim s obzirom na parametre [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:235:352877

B. Periša, "Robusno upravljanje dinamičkim sustavima promjenjivim s obzirom na parametre", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:352877

Metadata
TitleRobusno upravljanje dinamičkim sustavima promjenjivim s obzirom na parametre
Title (english)Robust control of parameter-varying dynamical systems
AuthorBartol Periša
MentorVladimir Milić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Tema ovog završnog rada je postupak sinteze robusnog regulatora linearnog sustava promjenjivog s ozbirom na parametre sustava, s naglaskom na rješavanje H∞ optimizacijskog problema uz pomoć linearnih matričnih nejednadžbi koje je moguće rješavati u lako dostupnim računalnim alatima poput MATLAB-a. Pritom se promatraju korišteni numerički algoritmi za rješavanje optimizacijskih problema poput metode unutarnje točke i elipsoid algoritma. Nastoje se spoznati temeljni kriteriji stabilnosti dinamičkih sustava zasnovani na direktnoj Ljapunovljevoj metodi, kao i njihova formulacija kroz linearne matrične nejednadžbe koristeći lemu ograničene realnosti. Iz dobivenog nelinearnog modela robotskog manipulatora cilj je uz linearizaciju takvog modela s ozbirom na parametre rasporeda sustava ostvariti sintezu robusnog regulatora danog sustava, s naglaskom na regulator stanja u povratnoj vezi zatvorene petlje. Simulacijski rezultati te rješavanje linearnih matričnih nejednadžbi provest će se uz pomoć programskih alata MATLAB i Yalmip s implementiranim SDPT3 solverom.
Abstract (english)
This thesis presents the process of synthesizing a robust controller for a linear parameter-varying system, with a focus on solving the H∞ optimization problem using linear matrix inequalities that can be addressed through readily available computational tools such as MATLAB. The study will explore the numerical algorithms used to solve optimization problems, such as the interior-point method and the ellipsoid algorithm. Fundamental stability criteria for dynamic systems, based on the direct Lyapunov method, will be examined, along with their formulation through linear matrix inequalities using the bounded-real lemma. From obtained nonlinear model of a robotic manipulator, the goal is to synthesize a robust controller for the system by linearizing the model concerning the system’s scheduling parameters, emphasizing state feedback control in a closed-loop configuration. Simulation results and the solution of linear matrix inequalities will be carried out using MATLAB and Yalmip, with the implementation of the SDPT3 solver.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:352877
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 10:45:54