Upravljanje bespilotnom četverorotorskom letjelicom primjenom vremenski promjenjivog regulatora stanja

undergraduate thesis

• Title (english): Control of a quadrotor unmanned aerial vehicle using a time-varying state controller
• Author: Fran Periša
• Mentor: Vladimir Milić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-09-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Basic Technical Sciences; Automatics

Abstract

Kroz ovaj je rad cilj uspješno primijeniti metodu upravljanja za praćenje referentne trajektorije na matematičkom modelu četverorotorske bespilotne letjelice, koristeći linearan vremenski promjenjiv regulator stanja temeljen na kvadratnom kriteriju optimalnosti. Kroz početak rada se uvode pojmovi i objašnjenja vezani uz teoriju optimalnog upravljanja poput Hamilton-Jacobi-Bellmanove jednadžbe te diferencijalne i algebarske Riccatijeve jednadžbe. Nadalje se opisuju metode rješavanja istih te postupak primjene i linearizacije nelinearnog sustava u oblik vremenski promjenljivog prostora stanja u koordinatama pogreške. Slijedi matematički opis kinematike i dinamike bespilotne letjelice te primjena prethodno objašnjene teorije na navedeni model kroz računalni alat Matlab. Definiranjem vlastitih te korištenjem postojećih funkcija u navedenome alatu, simuliraju se i uspoređuju slijeđenja dvaju referentnih trajektorija za linearizirani i nelinearizirani model letjelice te prikazuju značajke ponašanja lineariziranog modela, kao i upravljanja korištena za spomenute modele.

Abstract (english)

The aim of this bachelor’s thesis is to successfully apply a control method for reference trajectory tracking to the mathematical model of a quadrotor unmanned aerial vehicle, using a linear time-varying state regulator based on a quadratic optimality criterion. Thesis begins by introducing concepts and explanations related to optimal control theory, such as the Hamilton-Jacobi-Bellman equation and both differential and algebraic Riccati equations. The methods for solving these equations are then described, along with the process of linearizing the nonlinear system into a time-varying state-space representation in error coordinates. This is followed by a mathematical description of the kinematics and dynamics of the unmanned aerial vehicle, and the application of the previously explained theory to this model using the computational tool Matlab. By defining user functions and applying built-in functions and functions from Matlab toolboxes, simulations are performed to compare the tracking of two reference trajectories for both the linearized and nonlinear models of the aircraft. The results highlight the behavior of the linearized model and the control strategies used for both models.

• Keywords: autonomna četverorotorska letjelica; linearni vremenski promjenjivi sustav; linearni kvadratični regulator; Riccatijeva diferencijalna jednadžba; slijeđenje referentne trajektorije
• Keywords (english): autonomous quadrotor; linear time-varying system; linear quadratic regulator; Riccati differential equation; reference trajectory tracking
• Language: croatian
• URN:NBN: urn:nbn:hr:235:603374
• Study programme: Title: Mechatronics and Robotics; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-09-20 10:43:11