Navigacija i adaptivno upravljanje pomoskih robota metodama zasnovanim na podacima

master's thesis

• Title (english): Navigation and adaptive control of marine robots using data-driven methods
• Author: Goran Borković
• Mentor: Nikola Mišković (mentor)
• Committee member: Nikola Mišković (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Đula Nađ (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-14, Croatia

Abstract

Metode zasnovane na podacima su sve zastupljenije u području automatike zbog sve lakše dohvatljivosti podataka. Metode su jako slične opće korištenom i priznatom algoritmu modelskog prediktivnog upravljanja (MPC). Glavni nedostatak MPC-a je potreba za identifikacijom modela procesa kojim se upravlja. Upravo tu nastupaju metode zasnovane na podacima koje preskaču identifikaciju te ponašanje modela dobivaju direktno iz podataka. U ovom radu se opisuje razvoj takve jedne metode u MATLAB-u te njena primjena na područje pomorske robotike. Rezultati se, u konačnici, uspoređuju s onim dobivenim korištenjem MPC i PID regulatora kao oblika najčešće korištenih regulatora u području pomorske robotike, a i šire.

Abstract (english)

Data-driven methods are increasingly used in the field of control systems due to the ever-easier retrieval of data. The methods are very similar to the generally used and recognized model predictive control (MPC) algorithm. The main disadvantage of MPC is the need to obtain the plant model. This is where data-driven methods come in and obtain the model behavior directly from the data without the need for identification. This master's thesis paper describes the development of such a method in MATLAB and its application in the field of marine robotics. The results are, ultimately, compared with those obtained using MPC and PID controllers witch represent the most commonly used forms of controllers in the field of marine robotics and beyond.

• Keywords: Upravljanje zasnovano na podacima; Teorija ponašanja sustava; Prediktivno upravljanje; Bespilotno površinsko vozilo; MATLAB Marine Systems Simulator
• Keywords (english): Data-driven control; Behavioral systems theory; Predictive control; Unmanned surface vehicle; MATLAB Marine Systems Simulator
• Language: croatian
• URN:NBN: urn:nbn:hr:168:245202
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 08:29:33