Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra

Markučič, Joško (2018) Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra. = Algebraic methods for state estimation of unmanned aerial vehicles by using accelerometer. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Kasać, Josip.

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Abstract (Croatian)

U ovom radu razmatrana je primjena algebarskih metoda estimacije stanja autonomne letjelice primjenom akcelerometra s ciljem sinteze regulacijskog sustava letjelice. Algebarske metode omogućuju robusnu identifikaciju parametara i estimaciju stanja sustava u realnom vremenu te predstavljaju potencijalnu alternativu konvencionalnom asimptotskom pristupu estimaciji varijabli stanja sustava. Algebarske metode estimacije primjenjene su na linearizirani model potpuno upravljive letjelice sa šest zakrenutih rotora, koji omogućuje potpuno decentralizirano upravljanje po svakom stupnju slobode gibanja letjelice. Pretpostavka je da je početna pozicija letjelice u ishodištu inercijalnog sustava te da postoji nepoznata konstantna pogreška mjerenja akceleracije. Korištena je konvencionalna algebarska metoda te metoda frekvencijskog pomaka za dobivanje izraza za algebarsku estimaciju drifta akcelerometra dok je za usporedbu s asimptotskom metodom korišten robusni kompenzator drifta akcelerometra.

Abstract

This thesis discusses application of algebraic estimation methods of autonomous aircraft by using accelerometer with the aim of forming the aircraft control system. Algebraic methods enable robust parameter identification and real-time system estimation which represent a potential alternative to a conventional asymptotic approach to system state estimation. Algebraic estimation methods were applied to a linearized model of a fully actuated aircraft with six passively tiled rotors, which allows for a fully decentralized control of each aircraft degree of freedom. The assumption is that the initial position of the aircraft is at the origin of the inertial system and that tere is an unkown constant error in acceleration measurement. A conventional algebraic method and a frequency shift method were used to obtain expressions for algebraic accelerometer drift estimation, while for comparison with the asymptotic method a robust compensator of accelerometer drift was used.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: algebarska metoda; metoda frekvencijskog pomaka; robusni kompenzator; drift akcelerometra; estimacija varijabli stanja; autonomna letjelica
Keywords (Croatian): algebraic method; frequency shift method; robust compensator; accelerometer drift; state observer; autonomous aircraft
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 05 Jul 2018 08:51
Last Modified: 23 Jul 2018 11:02
URI: http://repozitorij.fsb.hr/id/eprint/8627

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