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master's thesis
Algebarski pristup estimaciji stanja i poremećaja autonomnih letjelica
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. urn:nbn:hr:235:242123
Pranjić, 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

Cite this document

Pranjić, M. (2019). Algebarski pristup estimaciji stanja i poremećaja 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:235:242123

Pranjić, Marko. "Algebarski pristup estimaciji stanja i poremećaja autonomnih letjelica." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:242123

Pranjić, Marko. "Algebarski pristup estimaciji stanja i poremećaja autonomnih letjelica." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:242123

Pranjić, M. (2019). 'Algebarski pristup estimaciji stanja i poremećaja autonomnih letjelica', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 29 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:242123

Pranjić M. Algebarski pristup estimaciji stanja i poremećaja autonomnih letjelica [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2019 [cited 2024 November 29] Available at: https://urn.nsk.hr/urn:nbn:hr:235:242123

M. Pranjić, "Algebarski pristup estimaciji stanja i poremećaja autonomnih letjelica", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:235:242123

Metadata
TitleAlgebarski pristup estimaciji stanja i poremećaja autonomnih letjelica
Title (english)Algebraic approach to state and disturbance estimation of unmanned aerial vehicles
AuthorMarko Pranjić
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 radu razmatra se upravljanje autonomnim letjelicama zasnovano na algebarskim estimatorima stanja i poremećaja. Algebarski estimatori omogućuju gotovo trenutnu konvergenciju estimiranih varijabli prema realnim vrijednostima, bez tranzijenata koji ovise o početnim uvjetima sustava. Izvedena su dva proširena algebarska observera stanja koji omogućuju estimaciju stanja i vanjskih poremećaja. Prvi observer zasnovan je na konvencionalnoj metodi algebarskih derivacija, dok je drugi zasnovan na novoj metodi frekvencijskog pomaka. Simulacijskim rezultatima ilustrirane su performanse navedenih algebarskih estimatora.U ovom radu razmatra se upravljanje autonomnim letjelicama zasnovano na algebarskim estimatorima stanja i poremećaja. Algebarski estimatori omogućuju gotovo trenutnu konvergenciju estimiranih varijabli prema realnim vrijednostima, bez tranzijenata koji ovise o početnim uvjetima sustava. Izvedena su dva proširena algebarska observera stanja koji omogućuju estimaciju stanja i vanjskih poremećaja. Prvi observer zasnovan je na konvencionalnoj metodi algebarskih derivacija, dok je drugi zasnovan na novoj metodi frekvencijskog pomaka. Simulacijskim rezultatima ilustrirane su performanse navedenih algebarskih estimatora.
Abstract (english)
In this paper, a control of unmanned aerial vehicles based on algebraic state and disturbance estimators is being considered. Algebraic estimators provide almost instantaneous convergence of estimated variables toward real values, without transients that depend on system inital values. The two algebraic extended state observers are presented that provide state and external disturbance estimation. The first observer is based on conventional algebraic derivative method, and the other is based on new frequency shifting method. The algebraic estimators performances are illustrated by simulation examples.In this paper, a control of unmanned aerial vehicles based on algebraic state and disturbance estimators is being considered. Algebraic estimators provide almost instantaneous convergence of estimated variables toward real values, without transients that depend on system inital values. The two algebraic extended state observers are presented that provide state and external disturbance estimation. The first observer is based on conventional algebraic derivative method, and the other is based on new frequency shifting method. The algebraic estimators performances are illustrated by simulation examples.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:242123
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 Attribution 4.0 International (CC BY 4.0) icon
Created on2019-11-28 12:09:47