Algebarski pristup estimaciji stanja i poremećaja autonomnih letjelica

master's thesis

• Title (english): Algebraic approach to state and disturbance estimation of unmanned aerial vehicles
• Author: Marko Pranjić
• Mentor: Josip Kasać (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-12-05, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu razmatra se upravljanje autonomnim letjelicama zasnovano na algebarskim estimatorima stanja i poremećaja. Algebarski estimatori omogućuju gotovo trenutnu konvergenciju estimiranih varijabli prema realnim vrijednostima, bez tranzijenata koji ovise o početnim uvjetima sustava. Izvedena su dva proširena algebarska observera stanja koji omogućuju estimaciju stanja i vanjskih poremećaja. Prvi observer zasnovan je na konvencionalnoj metodi algebarskih derivacija, dok je drugi zasnovan na novoj metodi frekvencijskog pomaka. Simulacijskim rezultatima ilustrirane su performanse navedenih algebarskih estimatora.U ovom radu razmatra se upravljanje autonomnim letjelicama zasnovano na algebarskim estimatorima stanja i poremećaja. Algebarski estimatori omogućuju gotovo trenutnu konvergenciju estimiranih varijabli prema realnim vrijednostima, bez tranzijenata koji ovise o početnim uvjetima sustava. Izvedena su dva proširena algebarska observera stanja koji omogućuju estimaciju stanja i vanjskih poremećaja. Prvi observer zasnovan je na konvencionalnoj metodi algebarskih derivacija, dok je drugi zasnovan na novoj metodi frekvencijskog pomaka. Simulacijskim rezultatima ilustrirane su performanse navedenih algebarskih estimatora.

Abstract (english)

In this paper, a control of unmanned aerial vehicles based on algebraic state and disturbance estimators is being considered. Algebraic estimators provide almost instantaneous convergence of estimated variables toward real values, without transients that depend on system inital values. The two algebraic extended state observers are presented that provide state and external disturbance estimation. The first observer is based on conventional algebraic derivative method, and the other is based on new frequency shifting method. The algebraic estimators performances are illustrated by simulation examples.In this paper, a control of unmanned aerial vehicles based on algebraic state and disturbance estimators is being considered. Algebraic estimators provide almost instantaneous convergence of estimated variables toward real values, without transients that depend on system inital values. The two algebraic extended state observers are presented that provide state and external disturbance estimation. The first observer is based on conventional algebraic derivative method, and the other is based on new frequency shifting method. The algebraic estimators performances are illustrated by simulation examples.

• Keywords: Algebarska estimacija; estimacija poremećaja; autonomna letjelica; upravljanje
• Keywords (english): Algebraic state estimation; algebraic disturbance estimation; unmanned aerial vehicles
• Language: croatian
• URN:NBN: urn:nbn:hr:235:242123
• 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: 2019-11-28 12:09:47