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master's thesis
Upravljanje autonomnim letjelicama primjenom algebarskog filtera za estimaciju derivacija signala
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. urn:nbn:hr:235:318142
Breški, Mario
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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Breški, M. (2019). Upravljanje autonomnim letjelicama primjenom algebarskog filtera za estimaciju derivacija signala (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:318142

Breški, Mario. "Upravljanje autonomnim letjelicama primjenom algebarskog filtera za estimaciju derivacija signala." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:318142

Breški, Mario. "Upravljanje autonomnim letjelicama primjenom algebarskog filtera za estimaciju derivacija signala." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:318142

Breški, M. (2019). 'Upravljanje autonomnim letjelicama primjenom algebarskog filtera za estimaciju derivacija signala', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:318142

Breški M. Upravljanje autonomnim letjelicama primjenom algebarskog filtera za estimaciju derivacija signala [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2019 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:318142

M. Breški, "Upravljanje autonomnim letjelicama primjenom algebarskog filtera za estimaciju derivacija signala", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:235:318142

Metadata
TitleUpravljanje autonomnim letjelicama primjenom algebarskog filtera za estimaciju derivacija signala
Title (english)Control of unmanned aerial vehicles by using algebraic signal derivatives filter
AuthorMario Breški
MentorJosip Kasać (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2019-12-05, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom diplomskom radu razmatran je algebarski estimator stanja i njegova primjena za upravljanje sustava drugog reda te kvadkoptera uz pretpostavku mjerljivosti samo pozicije. Izvedene su jednadžbe dinamičkog modela oba sustava s kojima se pristupilo upravljanju i primjeni estimatora. Algebarski estimator iskorišten je za estimaciju brzina te estimaciju derivacija referentnih trajektorija. Estimator je primijenjen i za estimaciju poremećaja na sustavu drugoga reda. Uspoređene su poznate i estimirane vrijednosti varijabli stanja, te se prikazao utjecaj reda filtera na točnost estimacije. Provedena je simulacija upravljanja u slučaju s poznatim derivacijama referentne trajektorije te upravljanja u slučaju s estimiranim derivacijama za oba sustava.
Abstract (english)
Throughout this master thesis application of algebraic derivatives estimator is discussed. An estimator is used to control a second-order system and quadcopter with the presumption that only position is measurable. Equations of dynamic models are derived for both systems which are then used to approach system control and algebraic estimator application. An algebraic estimator is used to estimate speed and to estimate derivations of desired referent trajectories. Also, an estimator is used to estimate disturbances in second-order systems. Observed and estimated state variables are compared, where estimator order influence is shown on the accuracy of estimations. Simulations were performed for both systems in two variants, one where derivatives of the desired trajectories are known, and others where they are estimated.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:318142
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 on2019-11-26 23:09:12