Robustno upravljanje letjelicom s pokretnim masama zasnovano na kliznim režimima

master's thesis

• Title (english): Sliding Mode Control of UAV Based on Moving Mass Concept
• Author: Martina Tomić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U okviru rada proučena je literatura o letjelici s pokretnim masama te o robustnom upravljanju zasnovanom na kliznim režimima. Na temelju toga predložen je algoritam za upravljanje orijentacijom letjelice pomicanjem centra mase zasnovan na kliznim režimima. Nadalje, napravljen je model Arducopter letjelice s pokretnim masama u Gazebo simulatoru, implementiran je predloženi algoritam u ROS okruženju te je detaljno analizirano vladanje sustava. Konačno, razmotrena je implementacija razvijenog algoritma na Pixhawk upravljačkoj pločici.

Abstract (english)

Within the scope of this master theses, literature covering UAVs based on moving mass control was studied, as well as literature regarding robust sliding mode control. Based on that, an moving mass attitude sliding mode control algorithm was proposed. Furthermore, Arducopter UAV model was created in the Gazebo simulator and was used in order to test the proposed algorithm in ROS environment. Finally, Pixhawk implementation of the algorithm was considered.

• Keywords: bespilotna letjelica; UAV; klizni režim upravljanja; robustno upravljanje; pomične mase
• Keywords (english): unmanned aerial vehicles; UAV; sliding mode control; robust control; moving mass control
• Language: croatian
• URN:NBN: urn:nbn:hr:168:981550
• 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: 2019-03-14 01:37:17