prikaz prve stranice dokumenta Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera
  Download
PDF 3.39 MB
master's thesis
Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. urn:nbn:hr:235:698657
Kantolić, Dario
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Cite this document

Kantolić, D. (2019). Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:698657

Kantolić, Dario. "Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:698657

Kantolić, Dario. "Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:698657

Kantolić, D. (2019). 'Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 19 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:698657

Kantolić D. Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2019 [cited 2024 April 19] Available at: https://urn.nsk.hr/urn:nbn:hr:235:698657

D. Kantolić, "Upravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:235:698657

Please login to the repository to save this object to your list.
Metadata
TitleUpravljanje autonomnim letjelicama primjenom adaptivnih Laguerreovih filtera
Title (english)Control of unmaned aerial vehicles by using adaptive Laguerre filters
AuthorDario Kantolić
MentorJosip Kasać (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2019-07-11, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Kroz ovaj diplomski rad razmatrani su adaptivni Laguerreovi filteri te njihova primjena na upravljanje kvadkopterom uz pretpostavku prisutnosti vanjskih poremećaja poput vjetra, kao i uz pretpostavku mjerljivosti samo pozicija kvadkoptera. Svojstvo ortogonalnosti Laguerreovih funkcija koristi se za reprezentaciju proizvoljnih signala poput vanjskih poremećaja ili derivacija pozicija kvadkoptera. Parametri linearne superpozicije Laguerreovih funkcija određuju se primjenom metode adaptivnog upravljanja, zasnovane na Lyapunovljevoj analizi stabilnosti dinamičkih sustava. Provedena je usporedba performansi upravljanja konvencionalnog linearnog regulatora s adaptivnim Laguerreovim filterom u slučaju prisustva vanjskih poremećaja.
Abstract (english)
The topic of this master thesis are adaptive Laguerre filters and their application on quadcopter control, where external disturbances like wind are present and under presumption that only quadcopter position is observable. The orthogonality property of Laguerre filters was used to represent any arbitrary signal like external disturbances or quadcopter position derivatives. Linear superposition parameters were determined by adaptive control method, based on Lyapunov stability analysis of dynamic systems. Finally, comparative analysis of the performance of linear controller and adaptive Laguerre filter with presence of external disturbance was carried out.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:698657
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
RepositoryRepository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on2019-07-02 10:49:22

(©) Nacionalna i sveučilišna knjižnica u Zagrebu 2015. Sva prava pridržana. | Hrvatske bratske zajednice 4 p.p. 550, 10000 Zagreb, Hrvatska Tel. ++ 385 1 616-4040
OIB: 84838770814 | IBAN: HR66 2340 0091 1000 1008 1, Porezni broj (PDV identifikacijski broj) - VAT Number: HR84838770814
Prijava u repozitorij