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master's thesis
Programski paket za optimalno upravljanje linearnim dinamičkim sustavima temeljem podataka
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. urn:nbn:hr:235:287502
Arandia-Krešić, Srećko
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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Arandia Krešić, S. (2021). Programski paket za optimalno upravljanje linearnim dinamičkim sustavima temeljem podataka (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:287502

Arandia Krešić, Srećko. "Programski paket za optimalno upravljanje linearnim dinamičkim sustavima temeljem podataka." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:287502

Arandia Krešić, Srećko. "Programski paket za optimalno upravljanje linearnim dinamičkim sustavima temeljem podataka." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:287502

Arandia Krešić, S. (2021). 'Programski paket za optimalno upravljanje linearnim dinamičkim sustavima temeljem podataka', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 12 May 2024, https://urn.nsk.hr/urn:nbn:hr:235:287502

Arandia Krešić S. Programski paket za optimalno upravljanje linearnim dinamičkim sustavima temeljem podataka [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2021 [cited 2024 May 12] Available at: https://urn.nsk.hr/urn:nbn:hr:235:287502

S. Arandia Krešić, "Programski paket za optimalno upravljanje linearnim dinamičkim sustavima temeljem podataka", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:235:287502

Metadata
TitleProgramski paket za optimalno upravljanje linearnim dinamičkim sustavima temeljem podataka
Title (croatian)Software package for optimal data-based control of linear dynamical systems
AuthorSrećko Arandia-Krešić
MentorAndrej Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2021-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
Rad će prvotno predstaviti bihevioralni pristup teoriji upravljanja, kao polazišnu točku „data-based“ sinteze na temelju tzv. fundamentalne leme. Kao jedan od modernijih primjena bit će naglašeno optimalno prediktivno upravljanje na temelju podataka, kao alternativa klasičnom Modelskom prediktivnom upravljanju (eng. Model Predictive Control - MPC). Na većem broju primjera će se pokazati sažetost identifikacije sustava na temelju fundamentalne leme, te će se na bazi simulacija usporediti s istom temeljenom na modelu. Sekundarno, razvit će se algoritam koji za proizvoljni diskretni linearni vremenski-invarijantni sustav u prostoru stanja, za proizvoljnu referentnu trajektoriju, korak diskretizacije i težinske parametre, na temelju offline podataka generira vektorski prostor svih mogućih trajektorija sustava, te online identificira inicijalno stanja poznavanjem prethodnih izlaza, nakon kojeg slijedi generiranje optimalne trajektorije na pomičnom horizontu - DeePC (eng. Data-enabled predictive control) algoritam. Dodatno, u navedeni algoritam bit će integrirano i robusno djelovanje, na temelju regularizacijskih varijabli u funkciji cilja (robustifikacija), s namjerom da se obuhvate i nesigurnosti u identificiranom modelu, primjerice zbog utjecaja šuma. Pokazat će se i uvjeti na garanciju performansi takvog robusnog djelovanja.
Abstract (english)
The thesis will firstly present behavioural approach to control theory, as a beginning setpoint for data-based synthesis based on fundamental lemma. As one of the more modern approaches, the emphasis will be on predictive optimal control based on data, as an alternative to Model predictive control (MPC). The simplicity of system identification based on fundamental lemma will be shown on more examples, and the comparison with model-based identification will be made. Secondly, the thesis shall develop an algorithm that, for a given arbitrary controllable linear time-invariant (LTI) discrete system in state space, reference trajectory and tuning parameters, generates the span of vector space of all possible system trajectories of a system based on offline data, identifies an initial state based on online measurements, and produces an optimal trajectory on finite horizon – DeePC (Data-enabled predictive control). Additionally, a robust control based on regularization variables in cost function (robustification) will be integrated into the algorithm, with a goal of covering the uncertainty in identified model, for example caused by noise. The performance guarantees for such robust control will be given.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:287502
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 on2021-12-01 14:35:22