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scientific master's theses
Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 1998. urn:nbn:hr:235:526023
Kasać, Josip
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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Kasać, J. (1998). Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža (Scientific master's theses). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:526023

Kasać, Josip. "Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža." Scientific master's theses, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 1998. https://urn.nsk.hr/urn:nbn:hr:235:526023

Kasać, Josip. "Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža." Scientific master's theses, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 1998. https://urn.nsk.hr/urn:nbn:hr:235:526023

Kasać, J. (1998). 'Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža', Scientific master's theses, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:526023

Kasać J. Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža [Scientific master's theses]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 1998 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:235:526023

J. Kasać, "Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža", Scientific master's theses, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 1998. Available at: https://urn.nsk.hr/urn:nbn:hr:235:526023

Metadata
TitleOptimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža
Title (english)Optimal control of nonlinear systems using neural networks
AuthorJosip Kasać
MentorBranko Novaković (mentor)
Committee memberBranko Novaković (predsjednik povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country1998-11-05, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Universal decimal classification
(UDC)		621 - Mechanical engineering. Nuclear technology. Machinery
004 - Computer science and technology. Computing. Data processing
Abstract
U radnji je prikazan izvod numeričkoga logoritma za optimalno upravljanjene linearnim multivarijabilnim sustavima sa ograničenjima varijabli stanja i upravljanja. Izvod algoritma zasnovan je na BPTT (backpropagation-through-time) algoritmu koji se primjenjuje kao algoritam učenja za dinamičke neuronske mreže. Izveden je također algoritam za vremenski optimalno upravljanje koji je zasnovan na svojstvima kaznenih funkcija za ograničenja varijabli stanja i upravljanja. Dobiveni algoritmi primijenjeni su na razne probleme optimalnog upravljanja robotom s dva stupnja slobode. Najprije je razmatran problem vremenski optimalnog upravljanja robotom s ograničenjima varijabli upravljanja. Zatim je razmatran isti problem s dodatnim uvjetom; zaobilaženjem prepreke, odnosno ograničenjima varijabli stanja. Nakon toga razmatra se problem optimalnog upravljanja kooperativnim radom dva robota. Problem se sastoji u zajedničkom prenošenju krutog tereta s jednog mjesta na drugo uz ograničenja varijabli upravljanja, te uz uvjet međusobnog izbjegavanja sudara i održavanja konstantne udaljenosti između prihvatnica manipulatora. Nakraju je prikazan izvod algoritma za optimalno upravljanje s povratnom vezom za nelinearne multivarijabilne sustave s ograničenjima varijabli upravljanja. Izvod algoritma također je zasnovan na principu BPTT algoritma.
Abstract (english)
The master's thesis presents the derivation of the numerical algorithm for optimal control of nonlinear multivariable systems with limited state and control vectors. The algorithm derivation is based on the BPTT (backpropagation-through-time) algorithm which is used as a learning algorithm for dynamic neural networks. Presented is also the derivation of the algorithm for time optimal control which is based on the characteristics of penalty functions for constraints of state and control vectors. The derived algorithms are used for various problems concerning optimal robot control with two degrees of freedom. The thesis first deals with the problem of time optimal robot control with control vector constraints. It also considers the same problem with an additional condition - avoidance of obstacles, that is, constraint of state vectors. The thesis further deals with the problem of optimal control of cooperative work of two robots, that is, of joint transfer of solid material from one place to another including control vector constraint and conditions of mutual avoidance of clashes and maintaining of constant distance between the hands of the robot. Derivation of the optimal control algorithm with a feedback for nonlinear multivariable systems with control vector constraint is presented at the end. This derivation is also based on the BPTT algorithm.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:526023
Study programmeTitle: Mechanical Engineering - mr.sc.
Study programme type: university
Study level: postgraduate
Academic / professional title: magistar znanosti (magistar znanosti)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2021-02-08 11:49:05