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master's thesis
Kontinuirana identifikacija parametara letjelice s četiri rotora u realnom vremenu
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. urn:nbn:hr:235:908043
Bambir, Krunoslav
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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Bambir, K. (2020). Kontinuirana identifikacija parametara letjelice s četiri rotora u realnom vremenu (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:908043

Bambir, Krunoslav. "Kontinuirana identifikacija parametara letjelice s četiri rotora u realnom vremenu." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:908043

Bambir, Krunoslav. "Kontinuirana identifikacija parametara letjelice s četiri rotora u realnom vremenu." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:908043

Bambir, K. (2020). 'Kontinuirana identifikacija parametara letjelice s četiri rotora u realnom vremenu', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:908043

Bambir K. Kontinuirana identifikacija parametara letjelice s četiri rotora u realnom vremenu [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2020 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:235:908043

K. Bambir, "Kontinuirana identifikacija parametara letjelice s četiri rotora u realnom vremenu", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:235:908043

Metadata
TitleKontinuirana identifikacija parametara letjelice s četiri rotora u realnom vremenu
Title (english)Real-time continuous parameter identification of quadrotor
AuthorKrunoslav Bambir
MentorJosip Kasać (mentor)
Committee memberBojan Jerbić (predsjednik povjerenstva)
Committee memberMihael Cipek (član povjerenstva)
Committee memberJosip Kasać (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2020-04-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu razmatrane su kontinuirane metode identifikacije parametara koje omogućuju gotovo trenutnu konvergenciju estimiranih parametara prema realnim vrijednostima. Parametri se estimiraju u realnom vremenu, kako bi se konvencionalnim upravljačkim algoritmima, koji su zasnovani na poznavanju parametara dinamičkog modela, omogućilo asimptotsko slijeđenje proizvoljne referentne trajektorije. Metode su primijenjene za identifikaciju parametara sustava drugog reda te se kao takve primjenjuju za identifikaciju mase i momenata tromosti letjelice s četiri rotora, čija se dinamika može podijeliti na više podsustava drugog reda. Za sve izvedene metode provedena je simulacijska analiza utjecaja šuma mjerenja na performanse kontinuiranih metoda identifikacije parametara.
Abstract (english)
In this thesis, continuous parameter identification which enables almost insantaneous estimation of real system parameters to the real values was considered. The parameters are estimated in real time to allow conventional control algorithms based on knowledge of parameters of dynamic model to asymptotically follow an arbitrary reference trajectory. Methods were used to estimate paremeters of second order system and then applied for identification of mass and moment inercia of quadrotor, which dynamics can be divided into more second order subsystems. For all the methods performed, a simulation analysis for sensor noise effect on the performance of continuous parameter identification methods was performed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:908043
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 on2020-04-06 17:44:11