Sustav autonomnog praćenja referentne trajektorije vozila primjenom linearnog kvadratičnog regulatora

master's thesis

• Title (english): Autonomous vehicle trajectory tracking using linear quadratic regulator
• Author: Nediljko Jerković
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Željko Jakopović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Glavni cilj ovog rada je projektirati linearni kvadratični regulator koji prati trajektoriju idealnu trajektoriju kojom automobil treba voziti. Trebalo je osigurati preko linearnog kvadratičnog regulatora što bolje praćenje reference. U uvodu ovoga rada prošlo se je kroz temu povijesti autonomnog vozila kao i podijele autonomnih vozila. U nastavku rada obrađene su pojmovi za shvaćanje teme. Obrađeni pojmovi su linearni sustavi, stabilnost sustava, upravljivost i osmotrivost sustava, Ljapunova stabilnost te je napravljena dinamika automobila kako bi se mogao projektirati linearni kvadratični regulator. Na kraju su se rezultati dobiveni simulacijom provjerili na 1/10 skaliranom modelu trkaćeg automobila.

Abstract (english)

The main objective of this paper is to design linear quadratic regulator that follows the trajectory of the ideal trajectory for driving. It should be provided through a linear quadratic regulator to better track the reference. In the introduction to this paper, it was about history of autonomous car and the division of autonomus vehicle. In the following section, concepts for understanding the topic are explained. Explained terms are linear system, stability of the system, Controllability and Observability, Ljapunov stability and car dynamics have been designed to design a linear quadratic regulator. In the end, the results obtained by simulation were checked on the 1/10 scaled model of the racing car.

• Keywords: autonomno vozilo; dinamika vozila; LQR; praćenje trajektorije
• Keywords (english): autonomous vehicle; vehicle dynamics; LQR; trajectory tracking.
• Language: croatian
• URN:NBN: urn:nbn:hr:168:344161
• 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
• Created on: 2020-01-07 18:43:13