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master's thesis
Upravljanje robotskim manipulatorom primjenom aktivne kompenzacije poremećaja
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. urn:nbn:hr:235:485811
Fiolić, Borna
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

Fiolić, B. (2021). Upravljanje robotskim manipulatorom primjenom aktivne kompenzacije poremećaja (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:485811

Fiolić, Borna. "Upravljanje robotskim manipulatorom primjenom aktivne kompenzacije poremećaja." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:485811

Fiolić, Borna. "Upravljanje robotskim manipulatorom primjenom aktivne kompenzacije poremećaja." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:485811

Fiolić, B. (2021). 'Upravljanje robotskim manipulatorom primjenom aktivne kompenzacije poremećaja', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 27 August 2024, https://urn.nsk.hr/urn:nbn:hr:235:485811

Fiolić B. Upravljanje robotskim manipulatorom primjenom aktivne kompenzacije poremećaja [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2021 [cited 2024 August 27] Available at: https://urn.nsk.hr/urn:nbn:hr:235:485811

B. Fiolić, "Upravljanje robotskim manipulatorom primjenom aktivne kompenzacije poremećaja", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:235:485811

Metadata
TitleUpravljanje robotskim manipulatorom primjenom aktivne kompenzacije poremećaja
Title (english)Active disturbance rejection control of robot manipulator
AuthorBorna Fiolić
MentorJosip Kasać (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2021-05-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovome radu razmatra se upravljanje robotskim manipulatorom s dva rotacijska stupnja slobode gibanja u horizontalnoj ravnini primjenom aktivne kompenzacije poremećaja zasnovane na proširenom observeru stanja. Izveden je matematički model robotskog manipulatora koji se koristi za računalno simuliranje upravljačkih performansi pri slijeđenju proizvoljne, vremenski promjenjive, referentne trajektorije. Prvo je implementiran klasični adaptivni regulator uz pretpostavku poznavanja regresijske matrice robotskog manipulatora. Zatim je implementiran robusni regulator uz pretpostavku nepoznate dinamike robotskog manipulatora. Performanse upravljanja adaptivnog i robusnog regulatora testirane su za slučaj mjerljivih brzina i u slučaju primjene filtera za estimaciju brzina. Na kraju je implementirano upravljanje primjenom aktivne kompenzacije poremećaja s proširenim observerom stanja proizvoljnog reda. Simulacijski rezultati upravljanja primjenom aktivne kompenzacije poremećaja uspoređeni su sa rezultatima upravljanja robusnog regulatora u kombinaciji sa sliding-mode filterom za estimaciju brzina.
Abstract (english)
In this thesis, an active disturbance rejection control of a robotic manipulator, based on an extended state observer, is considered. A mathematical model of a robotic manipulator in the horizontal plane with two rotational degrees of freedom is derived. The model is used for testing and evaluating the performance of control algorithms, on a computer simulation, by following an arbitrary, time-varying, reference trajectory. First, a classical adaptive controller was implemented with the assumption of knowing the regression matrix of the robotic manipulator. Then a sliding mode controller was implemented assuming unknown dynamics of the robotic manipulator. The control performance of the adaptive and sliding mode controller has been tested for measurable velocities and for the application of velocity estimation filters. Finally, an active disturbance rejection control based on extended state observer of arbitrary order was implemented. The simulation results from performance testing of active disturbance rejection control are compared with control performance results of a sliding mode controller in combination with a sliding mode filter for velocity estimation.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:485811
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 on2021-05-05 16:01:44