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master's thesis
Robusno upravljanje autonomnim podvodnim vozilom s četiri propulzora
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:380990
Žarak, Nikola
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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Žarak, N. (2023). Robusno upravljanje autonomnim podvodnim vozilom s četiri propulzora (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:380990

Žarak, Nikola. "Robusno upravljanje autonomnim podvodnim vozilom s četiri propulzora." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:380990

Žarak, Nikola. "Robusno upravljanje autonomnim podvodnim vozilom s četiri propulzora." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:380990

Žarak, N. (2023). 'Robusno upravljanje autonomnim podvodnim vozilom s četiri propulzora', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:380990

Žarak N. Robusno upravljanje autonomnim podvodnim vozilom s četiri propulzora [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:235:380990

N. Žarak, "Robusno upravljanje autonomnim podvodnim vozilom s četiri propulzora", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:380990

Metadata
TitleRobusno upravljanje autonomnim podvodnim vozilom s četiri propulzora
Title (english)Robust control of an autonomous underwater vehicle with four thrusters
AuthorNikola Žarak
MentorJosip Kasać (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-07-20, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Upravljanje autonomnim podvodnim vozilima je kompleksan zadatak zbog nelinearnih i vremenski varijantnih parametara modela, kao i nesigurnosti u vezi s vanjskim poremećajima. Podvodna vozila koja imaju više stupnjeva slobode gibanja od broja aktuatora predstavljaju dodatan izazov jer nije moguće upravljati svakim stupnjem slobode pojedinačno. U ovom radu je promatran X4-AUV, vozilo s 4 aktuatora (propelera) bez kormila za skretanje. Glavni cilj rada bio je razviti i analizirati tri različita regulatora za praćenje zadane referentne trajektorije. Implementiran je nelinearni dinamički model podvodnog vozila sa šest stupnjeva slobode gibanja u Matlabu te provedena linearizacija modela. Nakon toga, provedena je sinteza linearnog regulatora za slijeđenje referentne trajektorije bez vanjskih poremećaja, adaptivnog regulatora uz pretpostavku nepoznatih parametara vozila također bez vanjskih poremećaja, te robusni nelinearni regulator s kliznim režimom za upravljanje u slučaju vanjskih poremećaja. Dodatno, implementiran je robusni estimator derivacija signala za adaptivno i robusno upravljanje. Kroz provedene simulacije i analizu rezultata, provjerena je ispravnost i robusnost razvijenih regulatora za upravljanje autonomnim podvodnim vozilima.
Abstract (english)
The control of autonomous underwater vehicles is a complex task due to the nonlinear and time-varying parameters of the model, as well as uncertainties related to external disturbances. Underwater vehicles with more degrees of freedom than the number of actuators present an additional challenge since it is not possible to control each degree of freedom individually. This thesis focuses on the X4-AUV, a vehicle with four actuators (propellers) and no rudder for steering. The main goal of the thesis was to develop and analyze three different controllers for tracking a desired reference trajectory. A nonlinear dynamic model of the underwater vehicle with six degrees of freedom was implemented in Matlab, and the model was linearized. Subsequently, a linear controller for tracking the reference trajectory without external disturbances, an adaptive controller assuming unknown vehicle parameters also without external disturbances, and a robust nonlinear sliding-mode controller for control in the presence of external disturbances were developed. Additionally, a robust signal derivative estimator was implemented for adaptive and robust control. Through simulations and analysis of the results, the accuracy and robustness of the developed controllers for managing autonomous underwater vehicles were verified.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:380990
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 on2023-07-07 12:55:58