Robusno upravljanje autonomnim podvodnim vozilom s četiri propulzora

master's thesis

• Title (english): Robust control of an autonomous underwater vehicle with four thrusters
• Author: Nikola Žarak
• Mentor: Josip Kasać (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-07-20, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Upravljanje autonomnim podvodnim vozilima je kompleksan zadatak zbog nelinearnih i vremenski varijantnih parametara modela, kao i nesigurnosti u vezi s vanjskim poremećajima. Podvodna vozila koja imaju više stupnjeva slobode gibanja od broja aktuatora predstavljaju dodatan izazov jer nije moguće upravljati svakim stupnjem slobode pojedinačno. U ovom radu je promatran X4-AUV, vozilo s 4 aktuatora (propelera) bez kormila za skretanje. Glavni cilj rada bio je razviti i analizirati tri različita regulatora za praćenje zadane referentne trajektorije. Implementiran je nelinearni dinamički model podvodnog vozila sa šest stupnjeva slobode gibanja u Matlabu te provedena linearizacija modela. Nakon toga, provedena je sinteza linearnog regulatora za slijeđenje referentne trajektorije bez vanjskih poremećaja, adaptivnog regulatora uz pretpostavku nepoznatih parametara vozila također bez vanjskih poremećaja, te robusni nelinearni regulator s kliznim režimom za upravljanje u slučaju vanjskih poremećaja. Dodatno, implementiran je robusni estimator derivacija signala za adaptivno i robusno upravljanje. Kroz provedene simulacije i analizu rezultata, provjerena je ispravnost i robusnost razvijenih regulatora za upravljanje autonomnim podvodnim vozilima.

Abstract (english)

The control of autonomous underwater vehicles is a complex task due to the nonlinear and time-varying parameters of the model, as well as uncertainties related to external disturbances. Underwater vehicles with more degrees of freedom than the number of actuators present an additional challenge since it is not possible to control each degree of freedom individually. This thesis focuses on the X4-AUV, a vehicle with four actuators (propellers) and no rudder for steering. The main goal of the thesis was to develop and analyze three different controllers for tracking a desired reference trajectory. A nonlinear dynamic model of the underwater vehicle with six degrees of freedom was implemented in Matlab, and the model was linearized. Subsequently, a linear controller for tracking the reference trajectory without external disturbances, an adaptive controller assuming unknown vehicle parameters also without external disturbances, and a robust nonlinear sliding-mode controller for control in the presence of external disturbances were developed. Additionally, a robust signal derivative estimator was implemented for adaptive and robust control. Through simulations and analysis of the results, the accuracy and robustness of the developed controllers for managing autonomous underwater vehicles were verified.

• Keywords: podvodno vozilo; podupravljani mehanički sustavi; adaptivno upravljanje; robusno upravljanje
• Keywords (english): underwater vehicle; underactuated mechanical systems; adaptive control; robust control
• Language: croatian
• URN:NBN: urn:nbn:hr:235:380990
• 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: 2023-07-07 12:55:58