Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta

Bartulović, Mihovil

prikaz prve stranice dokumenta Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta

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master's thesis

Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta

Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. urn:nbn:hr:168:148306

Bartulović, Mihovil

University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

APA 6th Edition

Bartulović, M. (2014). Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:148306

MLA 8th Edition

Bartulović, Mihovil. "Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:148306

Chicago 17th Edition

Harvard

Bartulović, M. (2014). 'Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 07 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:148306

Vancouver

Bartulović M. Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2014 [cited 2024 November 07] Available at: https://urn.nsk.hr/urn:nbn:hr:168:148306

IEEE

M. Bartulović, "Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2014. Available at: https://urn.nsk.hr/urn:nbn:hr:168:148306

Cite this item: https://urn.nsk.hr/urn:nbn:hr:168:148306

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Metadata

Title	Implementacija algoritma koordiniranog upravljanja letjelicama u svrhu prijenosa tereta
Title (english)	Implementation of coordinated control of UAVs for load transport
Author	Mihovil Bartulović
Mentor	Stjepan Bogdan (mentor)
Committee member	Stjepan Bogdan (predsjednik povjerenstva)
Committee member	Zdenko Kovačić (član povjerenstva)
Committee member	Ivana Palunko (član povjerenstva)
Granter	University of Zagreb Faculty of Electrical Engineering and Computing Zagreb
Defense date and country	2014-07-16, Croatia
Scientific / art field, discipline and subdiscipline	TECHNICAL SCIENCES Electrical Engineering
Abstract	U okviru ovoga diplomskog rada analiziraju se svojstva upravljanja formacijom pokretnih objekata korištenjem Gaussove funkcije potencijala . Bitno svojstvo korištenog pristupa su elementarne funkcije potencijala ovisne o parametru $\sigma$ koji je različit za svaki agent. Posljedica tog svojstva je jednak oblik privlačnih i odbojnih sila između agenata i meta, te između samih agenata. Takvo svojstvo na kraju daje željenu formaciju kao singularnu točku neovisnu o parametrima. Za razliku od centraliziranog modela upravljanja u kojem su agenti identični, u decentraliziranom sustavu upravljanja agenti nisu identični, pa struktura potencijala formacije nije invarijantna s obzirom na zamjene konfiguracija pojedinih agenata. Nadalje je pokazano da se položaj neželjenih stabilnih ravnotežnih stanja može mijenjati oblikom elementarne funkcije potencijala, odnosno načinom na koji agenti i mete međusobno djeluju. Da bi se potrebne vrijednosti kontrolnog parametra tokom rada sustava ispravno odredile, uveden je adaptivni algoritam koji, ovisno o zaposjednutom ravnotežnom stanju, skokovito mijenja vrijednost kontrolnog parametra za pojedine agente. Simulacija, izvedene u simulatoru razvijenom u Matlab programskom okruženju u laboratoriju LARICS, pokazuje ispravnost predloženog pristupa upravljanja formacija pokretnih objekata.
Abstract (english)	This Master thesis uses the Gaussian potential function to analyse control characteristics of a formation of mobile objects. The analysis uses elementary potential functions dependent on a control parameter that is different for each agent. The consequence is that the attractive and repulsive forces among agents and targets, as well as among agents themselves, have the same characteristics. This approach results in a desired formation expressed as a singular point independent of these parameters. As opposed to a centralized control model for which the agents are identical, in a decentralized control system, the agents are not identical resulting in a dependence of the formation's potential structure on the swapping of agents' configurations. It is further shown that the position of the undesired stable equilibrium states can be changed by the characteristics of the elementary potential functions, i.e. by a mutual interaction of the agents and targets. An adaptive algorithm is introduced in order to determine the required values of the control parameters during the operation of the system. It step-wise changes the control parameters depending on the acquired equilibrium state. The simulation, implemented as a GUI in Matlab in the LARICS lab, confirmed the correctness of the proposed control of a formation of mobile objects.
Keywords
Keywords (english)
Language	croatian
URN:NBN	urn:nbn:hr:168:148306
Study programme	Title: Electrical Engineering and Information Technology Study programme type: university Study level: graduate Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resource	Text
File origin	Born digital
Access conditions	Closed access
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Repository	FER Repository
Created on	2018-02-06 07:46:43