Numerički algoritam za suboptimalno upravljanje linearnim dinamičkim sustavima uz prisustvo poremećaja

master's thesis

• Title (english): Numerical algorithm for suboptimal control of linear dynamic systems in the presence of disturbances
• Author: Karla Marija Šegota
• Mentor: Vladimir Milić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-07-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Diplomski rad obrađuje numerički algoritam za sintezu suboptimalnog zakona upravljanja linearnim dinamičkim sustavima koji će omogućiti zadržavanje utjecaja poremećaja ispod dozvoljene granice i asimptotski stabilizirati zatvoreni sustav. Algoritam je temeljen na metodi konjugiranog gradijenta za istovremenu minimizaciju i maksimizaciju funkcije troška pri čemu se gradijenti računaju unazadno primjenom pravila ulančanih derivacija. Metoda konjugiranog gradijenta je poboljšana SuperSAB algoritmom. Izvedeni algoritam je provjeren na dinamičkom sustavu jednostavne mase.

Abstract (english)

The master’s theses addresses a numerical algorithm for the suboptimal control of linear dynamic systems that ensures that the disturbance influence remains below a permissible limit and asymptotically stabilizes the closed-loop system. The algorithm is based on conjugate gradient method for simultaneous minimization and maximization of the cost function, with gradients computed backwards using the chain rule. The conjugate gradient method is enhanced with the SuperSAB algorithm. The implemented algorithm was tested on a simple mass dynamic system.

• Keywords: linearni vremenski invarijantni sustav; konjugirani gradijent; SuperSAB metoda; algoritam povratnog prostiranja kroz vrijeme; diferencijalne igre; igra nulte sume
• Keywords (english): linear time-invarijant system; conjugate gradient; SuperSAB method; backpropagation through time algorithm; differential games; zero-sum game
• Language: croatian
• URN:NBN: urn:nbn:hr:235:065928
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-07-12 19:33:25