Upravljanje pozitivnim dinamičkim sustavima s primjenom na grupe mobilnih robota

master's thesis

• Title (english): Control of positive dynamical systems with application in groups of mobile robots
• Author: Cvita Pirović
• Mentor: Andrej Jokić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-01-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu upoznat ćemo se sa pozitivnim dinamičkim sustavim čija primjena je danas vrlo česta u mnogim područjima. Metode za analizu i sintezu pozitivnih sustava su zbog svojih dobrih svojstava primjenjive na sustave vrlo velikih razmjera kao što su velike grupe mobilnih robota ili prometne mreže. Za razliku od standardnih linearnih sustava, analiza stabilnosti i sinteza optimalnih regulatora kod ovakvih sustava je mnogo jednostavnija s obzirom da njihova kompleksnost linearno raste s brojem veza između robota. Potrebno je sintetizirati distribuirane regulatore, odnosno lokalne regulatore na razini pojedinačnog robota, s ciljem da grupa robota uzimajući u obzir informacije susjednih robota zauzme zadanu formaciju. S obzirom da su u praksi uvijek prisutni neki vanjski poremećaji poput vjetra koji utječe na gibanje dronova, javlja se potreba za uklanjanjem ili smanjenjem utjecaja poremećaja. Predstavljena su dva teorema za sintezu regulatora koja kao kriterij optimizacije koriste prvu ili beskonačnu induciranu normu.

Abstract (english)

In this paper, we present positive dynamical systems whose application is widespread today in many areas. Due to their good properties, positive systems apply to very large-scale systems such as large groups of mobile robots or traffic networks. In contrast to standard linear systems, stability analysis and synthesis of optimal controllers are greatly simplified for such systems, considering that their complexity scales linearly with the number of interconnections. It is necessary to synthesize distributed controllers, where each robot has its own controller, with the aim that a group of mobile robots achieves the desired formation using their mutual information. In practice, there are always some external disturbances, such as wind that affects the movement of drones, so it is necessary to remove or minimize the effects of the disturbance. There are presented two theorems for the synthesis of controllers that use the first or infinite induced norm as an optimization criterion.

• Keywords: pozitivni sustavi; grupa mobilnih robota; distribuirani regulatori; inducirana norma
• Keywords (english): positive systems; group of mobile robots; distributed controllers; induced norms
• Language: croatian
• URN:NBN: urn:nbn:hr:235:647797
• 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: 2023-01-19 08:29:34