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doctoral thesis
Modeliranje i robusno upravljanje višerotorskim bespilotnim letjelicama s potpuno upravljanim konfiguracijama
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. urn:nbn:hr:235:354601
Kotarski, Denis
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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Kotarski, D. (2020). Modeliranje i robusno upravljanje višerotorskim bespilotnim letjelicama s potpuno upravljanim konfiguracijama (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:354601

Kotarski, Denis. "Modeliranje i robusno upravljanje višerotorskim bespilotnim letjelicama s potpuno upravljanim konfiguracijama." Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:354601

Kotarski, Denis. "Modeliranje i robusno upravljanje višerotorskim bespilotnim letjelicama s potpuno upravljanim konfiguracijama." Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:354601

Kotarski, D. (2020). 'Modeliranje i robusno upravljanje višerotorskim bespilotnim letjelicama s potpuno upravljanim konfiguracijama', Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:354601

Kotarski D. Modeliranje i robusno upravljanje višerotorskim bespilotnim letjelicama s potpuno upravljanim konfiguracijama [Doctoral 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:235:354601

D. Kotarski, "Modeliranje i robusno upravljanje višerotorskim bespilotnim letjelicama s potpuno upravljanim konfiguracijama", Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:235:354601

Metadata
TitleModeliranje i robusno upravljanje višerotorskim bespilotnim letjelicama s potpuno upravljanim konfiguracijama
Title (english)Modeling and robust control of fully actuated multirotor unmanned aerial vechiles
AuthorDenis Kotarski
MentorJosip Kasać (mentor)
Committee memberMilan Vrdoljak (predsjednik povjerenstva)
Committee memberJosip Kasać (član povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2020-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Universal decimal classification
(UDC)		623 - Military engineering
Abstract
Višerotorski tip bespilotnih letjelica zbog svojih je karakteristika tipični predstavnik zračnih mobilnih robota. U odnosu na ostale tipove bespilotnih letjelica, posjeduje puno veći spektar manevarskih sposobnosti pa samim time može izvoditi precizna i kompleksna gibanja. S aspekta upravljanja, višerotorske letjelice predstavljaju vrlo konfigurabilnu platformu za sintezu robusnog upravljanja. U radu je predstavljena poopćena upravljačka alokacijska shema za višerotorski tip letjelica koja opisuje konfiguraciju letjelice. Upravljačka alokacijska shema determinira stupanj upravljanosti letjelice te omogućuje efikasnije projektiranje sustava. Inverz sheme omogućava implementaciju upravljanja za proizvoljne parametre konfiguracije. Prikazan je metodološki pristup projektiranju višerotorske letjelice pri čemu je ključno odabrati komponente i parametre konfiguracije s obzirom na opremu, odnosno misiju koju letjelica treba obaviti. Projektiranje je prikazano kroz eksperimentalnu identifikaciju i karakterizaciju pogonskih jedinica, analizu pogonskog i energetskog podsustava te optimiranje parametara konfiguracije letjelice. Provedena je sinteza robusnog regulatora za potpuno upravljane konfiguracije višerotorskih letjelica, koji se temelji na algebarskom estimatoru derivacija signala visoke razine točnosti. Simulacijskim usporedbama s konvencionalnom strukturom aktivnog upravljanja s kompenzacijom poremećaja, pokazano je da se predloženim pristupom upravljanju mogu ostvariti bolje performanse sustava. Osim kompenzacije vanjskih poremećaja i nemodelirane dinamike, pokazana je i robusnost na kvar rotora. Za potrebe testiranja performansi, konstruirane su i izrađene eksperimentalne modularne višerotorske letjelice
Abstract (english)
Due to its characteristics, the multirotor type of UAV is a typical representative of aerial mobile robots. Compared to other types of UAVs, it has a much larger range of maneuverability and thus can perform precise and complex movements. From a control perspective, multirotor UAVs are a highly configurable platform for the synthesis of robust control. In this research, a generalized control allocation scheme is presented which describes the multirotor UAV configuration. The control allocation scheme determines the degree of control of the system and enables more efficient aircraft design. The inverse schema enables the control system implementation for arbitrary configuration parameters. A methodological approach to multirotor design is presented, where it is crucial to select components and configuration parameters concerning the mission that the aircraft is to perform. The design is demonstrated through experimental identification and characterization of propulsion units, analysis of propulsion and energy subsystems and optimization of multirotor configuration parameters. Robust control design for fully actuated multirotor configurations is proposed based on an algebraic signal derivatives estimator. Simulation results have shown that the proposed control approach can achieve better performance in relation to the conventional structure of active disturbance rejection control. In addition to compensation for external disturbances and unmodeled dynamics, robustness to rotor failure has also been demonstrated. For performance testing, experimental modular multirotor aircraft have been constructed and produced.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:354601
Promotion2020
Study programmeTitle: Mechanical Engineering and Naval Architecture
Study programme type: university
Study level: postgraduate
Academic / professional title: doktor/doktorica znanosti, područje tehničkih znanosti (doktor/doktorica znanosti, područje tehničkih znanosti)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2020-09-03 12:18:19