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master's thesis
Upravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:647797
Pirović, Cvita
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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Pirović, C. (2023). Upravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:647797

Pirović, Cvita. "Upravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:647797

Pirović, Cvita. "Upravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:647797

Pirović, C. (2023). 'Upravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:647797

Pirović C. Upravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:647797

C. Pirović, "Upravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:647797

Metadata
TitleUpravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota
Title (english)Control of positive dynamical systems with application in groups of mobile robots
AuthorCvita Pirović
MentorAndrej Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-01-26, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu upoznat ćemo se sa pozitivnim dinamičkim sustavim čija primjena je danas vrlo česta u mnogim područjima. Metode za analizu i sintezu pozitivnih sustava su zbog svojih dobrih svojstava primjenjive na sustave vrlo velikih razmjera kao što su velike grupe mobilnih robota ili prometne mreže. Za razliku od standardnih linearnih sustava, analiza stabilnosti i sinteza optimalnih regulatora kod ovakvih sustava je mnogo jednostavnija s obzirom da njihova kompleksnost linearno raste s brojem veza između robota. Potrebno je sintetizirati distribuirane regulatore, odnosno lokalne regulatore na razini pojedinačnog robota, s ciljem da grupa robota uzimajući u obzir informacije susjednih robota zauzme zadanu formaciju. S obzirom da su u praksi uvijek prisutni neki vanjski poremećaji poput vjetra koji utječe na gibanje dronova, javlja se potreba za uklanjanjem ili smanjenjem utjecaja poremećaja. Predstavljena su dva teorema za sintezu regulatora koja kao kriterij optimizacije koriste prvu ili beskonačnu induciranu normu.
Abstract (english)
In this paper, we present positive dynamical systems whose application is widespread today in many areas. Due to their good properties, positive systems apply to very large-scale systems such as large groups of mobile robots or traffic networks. In contrast to standard linear systems, stability analysis and synthesis of optimal controllers are greatly simplified for such systems, considering that their complexity scales linearly with the number of interconnections. It is necessary to synthesize distributed controllers, where each robot has its own controller, with the aim that a group of mobile robots achieves the desired formation using their mutual information. In practice, there are always some external disturbances, such as wind that affects the movement of drones, so it is necessary to remove or minimize the effects of the disturbance. There are presented two theorems for the synthesis of controllers that use the first or infinite induced norm as an optimization criterion.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:647797
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 on2023-01-19 08:29:34