Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima

Kasalo, Marko (2018) Optimalno upravljanje podupravljanom besposadnom letjelicom temeljeno na varijacijskim integratorima. = Optimal control of underactuated unmanned aerial vehicle based on variational integrators. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Terze, Zdravko.

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Abstract (Croatian)

Na početku ovog rada opisani su varijacijski integratori iz perspektive Lagrangeove mehanike, a potom je teorija varijacijskih integratora poslužila kao uvod i osnova za opis DMOC (eng. Discrete Mechanics and Optimal Control) algoritma. Za primjenu iznesene teorije odabran je Python-ov modul trep. Modul je prvo opisan, a zatim upotrijebljen za rješavanje problema optimalnog upravljanja jednostavnim helikopterom. Na kraju, DMOC je uspoređen s drugim algoritmima za rješavanje optimalnog problema upravljanja.

Abstract

At the beginning of this thesis, variational integrators are described from the Lagrangian mechanics perspective. After that, variational integrators theory was used as an introduction and as a basis for describing DMOC (Discrete Mechanics and Optimal Control) algorithm. Python module trep was utilized for implementation of presented theory. Firstly the module was described and then it was used for solving optimal control problem of a simple helicopter. In the end, DMOC was compared with other algorithms for solving optimal control problems.

Item Type:	Thesis (Master's thesis (Bologna))
Uncontrolled Keywords:	Lagrangeova mehanika; diskretna mehanika; varijacijski integratori; optimalno upravljanje;
Keywords (Croatian):	Lagrangian mechanics; discrete mechanics; variational integrators; optimal control
Subjects:	TECHNICAL SCIENCE > Mechanical Engineering > precision engineering
Divisions:	1300 Department of Aeronautical Engineering > 1320 Chair of Aircraft Dynamics
Date Deposited:	12 Jul 2018 09:24
Last Modified:	23 Jul 2018 09:23
URI:	http://repozitorij.fsb.hr/id/eprint/8664

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