Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera

master's thesis

• Title (english): Control of unmaned aerial vehicles by using adaptive Laguerre filters
• Author: Dario Kantolić
• Mentor: Josip Kasać (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Kroz ovaj diplomski rad razmatrani su adaptivni Laguerreovi filteri te njihova primjena na upravljanje kvadkopterom uz pretpostavku prisutnosti vanjskih poremećaja poput vjetra, kao i uz pretpostavku mjerljivosti samo pozicija kvadkoptera. Svojstvo ortogonalnosti Laguerreovih funkcija koristi se za reprezentaciju proizvoljnih signala poput vanjskih poremećaja ili derivacija pozicija kvadkoptera. Parametri linearne superpozicije Laguerreovih funkcija određuju se primjenom metode adaptivnog upravljanja, zasnovane na Lyapunovljevoj analizi stabilnosti dinamičkih sustava. Provedena je usporedba performansi upravljanja konvencionalnog linearnog regulatora s adaptivnim Laguerreovim filterom u slučaju prisustva vanjskih poremećaja.

Abstract (english)

The topic of this master thesis are adaptive Laguerre filters and their application on quadcopter control, where external disturbances like wind are present and under presumption that only quadcopter position is observable. The orthogonality property of Laguerre filters was used to represent any arbitrary signal like external disturbances or quadcopter position derivatives. Linear superposition parameters were determined by adaptive control method, based on Lyapunov stability analysis of dynamic systems. Finally, comparative analysis of the performance of linear controller and adaptive Laguerre filter with presence of external disturbance was carried out.

• Keywords: Laguerreovi filteri; Adaptivno upravljanje; Dinamika krutog tijela; Kvadkopter
• Keywords (english): Laguerre filters; Adaptive control; Rigid-body dynamics; Quadcopter
• Language: croatian
• URN:NBN: urn:nbn:hr:235:698657
• 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: 2019-07-02 10:49:22