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master's thesis
Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. urn:nbn:hr:235:658268
Kasalo, Marko
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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Kasalo, M. (2018). Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:658268

Kasalo, Marko. "Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:658268

Kasalo, Marko. "Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:658268

Kasalo, M. (2018). 'Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 26 June 2024, https://urn.nsk.hr/urn:nbn:hr:235:658268

Kasalo M. Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2018 [cited 2024 June 26] Available at: https://urn.nsk.hr/urn:nbn:hr:235:658268

M. Kasalo, "Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:235:658268

Metadata
TitleOptimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima
Title (english)Optimal control of underactuated unmanned aerial vehicle based on variational integrators
AuthorMarko Kasalo
MentorZdravko Terze (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2018-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Precision Mechanical Engineering
Abstract
Na početku ovog rada opisani su varijacijski integratori iz perspektive Lagrangeove mehanike, a potom je teorija varijacijskih integratora poslužila kao uvod i osnova za opis DMOC (eng. Discrete Mechanics and Optimal Control) algoritma. Za primjenu iznesene teorije odabran je Python-ov modul trep. Modul je prvo opisan, a zatim upotrijebljen za rješavanje problema optimalnog upravljanja jednostavnim helikopterom. Na kraju, DMOC je uspoređen s drugim algoritmima za rješavanje optimalnog problema upravljanja.
Abstract (english)
At the beginning of this thesis, variational integrators are described from the Lagrangian mechanics perspective. After that, variational integrators theory was used as an introduction and as a basis for describing DMOC (Discrete Mechanics and Optimal Control) algorithm. Python module trep was utilized for implementation of presented theory. Firstly the module was described and then it was used for solving optimal control problem of a simple helicopter. In the end, DMOC was compared with other algorithms for solving optimal control problems.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:658268
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 22:44:02