Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica

Kosanović, Boris (2018) Estimacija i kompenzacija vanjskih poremećaja kod autonomnih letjelica. = Estimation and compensation of external disturbances of unmanned aerial vehicles. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Kasać, Josip.

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Abstract (Croatian)

U radu se razmatra estimacija i kompenzacija vanjskih poremećaja kvadkoptera primjenom tri različita observera poremećaja. Implementirani su observer poremećaja u vremenskoj domeni, observer poremećaja s proširenim prostorom stanja i robusni observer poremećaja te su prikazani na jednostavnim primjerima estimacije poremećaja. Izveden je kinematički model kvadkoptera primjenom Euler-ovih kuteva, te je pomoću Newton-Euler-ove formulacije izveden dinamički model kvadkoptera. Na temelju lineariziranog modela kvadkoptera provedena je sinteza regulatora i observera poremećaja za problem slijeđenja referentne trajektorije. Provedena je komparativna analiza performansi pojedinih observera koji su korišteni u radu za slučajeve sa i bez šuma.

Abstract

This paper is dealing with the estimation and compensation of external disturbances of quadcopter using three different disturbance observers. Time domain disturbance observer, extended state observer and robust observer have been implemented and are shown in simple examples of disturbance estimation. Kinematic model of quadcopter has been derived using Euler angles and using Newton-Euler formulations dynamic model od quadcopter has been derived. Based on linearized model of quadcopter, synthesis of the regulator and disturbance observer has been carried out for the following reference trajectory problem. Comparative analysis of the performance of individual observers that were used in this paper was carried out for the cases with and without noise.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: Observer poremećaja u vremenskoj domeni; Observer s proširenim prostorom stanja; Robusni observer poremećaja; Kvadkopter
Keywords (Croatian): Time domain disturbance observer; Extended state observer; Robust observer; Quadcopter
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 29 Nov 2018 11:01
Last Modified: 25 Oct 2019 11:27
URI: http://repozitorij.fsb.hr/id/eprint/8916

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