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master's thesis
Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. urn:nbn:hr:235:725759
Kosanović, Boris
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

Kosanović, B. (2018). Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:725759

Kosanović, Boris. "Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:725759

Kosanović, Boris. "Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:725759

Kosanović, B. (2018). 'Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:725759

Kosanović B. Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2018 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:235:725759

B. Kosanović, "Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:235:725759

Metadata
TitleEstimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica
Title (english)Estimation and compensation of external disturbances of unmanned aerial vehicles
AuthorBoris Kosanović
MentorJosip Kasać (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2018-12-06, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U radu se razmatra estimacija i kompenzacija vanjskih poremećaja kvadkoptera primjenom tri različita observera poremećaja. Implementirani su observer poremećaja u vremenskoj domeni, observer poremećaja s proširenim prostorom stanja i robusni observer poremećaja te su prikazani na jednostavnim primjerima estimacije poremećaja. Izveden je kinematički model kvadkoptera primjenom Euler-ovih kuteva, te je pomoću Newton-Euler-ove formulacije izveden dinamički model kvadkoptera. Na temelju lineariziranog modela kvadkoptera provedena je sinteza regulatora i observera poremećaja za problem slijeđenja referentne trajektorije. Provedena je komparativna analiza performansi pojedinih observera koji su korišteni u radu za slučajeve sa i bez šuma.
Abstract (english)
This paper is dealing with the estimation and compensation of external disturbances of quadcopter using three different disturbance observers. Time domain disturbance observer, extended state observer and robust observer have been implemented and are shown in simple examples of disturbance estimation. Kinematic model of quadcopter has been derived using Euler angles and using Newton-Euler formulations dynamic model od quadcopter has been derived. Based on linearized model of quadcopter, synthesis of the regulator and disturbance observer has been carried out for the following reference trajectory problem. Comparative analysis of the performance of individual observers that were used in this paper was carried out for the cases with and without noise.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:725759
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 on2019-05-24 12:58:02