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master's thesis
Sinteza optimalnog regulatora stanja linearnih sustava primjenom algoritma povratnog prostiranja kroz vrijeme
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:075066
Trbara, Klara
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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Trbara, K. (2023). Sinteza optimalnog regulatora stanja linearnih sustava primjenom algoritma povratnog prostiranja kroz vrijeme (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:075066

Trbara, Klara. "Sinteza optimalnog regulatora stanja linearnih sustava primjenom algoritma povratnog prostiranja kroz vrijeme." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:075066

Trbara, Klara. "Sinteza optimalnog regulatora stanja linearnih sustava primjenom algoritma povratnog prostiranja kroz vrijeme." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:075066

Trbara, K. (2023). 'Sinteza optimalnog regulatora stanja linearnih sustava primjenom algoritma povratnog prostiranja kroz vrijeme', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 14 July 2024, https://urn.nsk.hr/urn:nbn:hr:235:075066

Trbara K. Sinteza optimalnog regulatora stanja linearnih sustava primjenom algoritma povratnog prostiranja kroz vrijeme [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 July 14] Available at: https://urn.nsk.hr/urn:nbn:hr:235:075066

K. Trbara, "Sinteza optimalnog regulatora stanja linearnih sustava primjenom algoritma povratnog prostiranja kroz vrijeme", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:075066

Metadata
TitleSinteza optimalnog regulatora stanja linearnih sustava primjenom algoritma povratnog prostiranja kroz vrijeme
Title (english)Optimal state controller synthesis for linear systems using the back-propagation through time algorithm
AuthorKlara Trbara
MentorVladimir Milić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-12-07, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Diplomski rad istražuje optimalno upravljanje linearnim dinamičkim sustavima kroz primjenu numeričkih metoda, s posebnim naglaskom na sintezu optimalnog regulatora stanja. Zbog kompleksnosti analitičkih metoda, koriste se numeričke metode kako bi se omogućila praktična implementacija optimalnog regulatora. Fokus rada je na upotrebi jednoslojne neuronske mreže sa saturacijskom aktivacijskom funkcijom kao zakonom upravljanja, osiguravajući pritom zadovoljavanje ograničenja varijabli upravljanja. Rad uključuje algoritam podešavanja težina neuronske mreže, temeljen na algoritmu povratnog prostiranja kroz vrijeme (eng. BackPropagation Through Time – BPTT), uz integraciju Eulerove metode za vremensku diskretizaciju, metode konjugiranog gradijenta, te kompleksne koračne metode za računanje Jacobijana funkcije dinamike sustava. Navedene metode su integrirane u jedan numerički algoritam za sintezu regulatora prema kvadratnom kriteriju optimalnosti. Izvedeni algoritam je provjeren na sintezi regulatora mehaničkog sustava masa-prigušnica-opruga.
Abstract (english)
The master's thesis explores optimal control of linear dynamic systems through the application of numerical methods, with a particular focus on the synthesis of an optimal state regulator. Due to the complexity of analytical methods, numerical methods are used to enable the practical implementation of the optimal regulator. The focus of the thesis is on the use of a single-layer neural network with a saturation activation function as the control law, ensuring the satisfaction of control variable constraints. The work includes a weight adjustment algorithm for the neural network based on the Backpropagation Through Time (BPTT) algorithm, integrating Euler's method for time discretization, conjugate gradient method, and complex step method for computing the system's Jacobian function. These methods are integrated into a single numerical algorithm for synthesizing the regulator according to the quadratic optimality criterion. The derived algorithm is validated in the synthesis of a regulator for a mechanical system consisting of mass-damper-spring components.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:075066
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 on2023-12-04 14:17:42