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master's thesis
Modelsko prediktivno upravljanje zračnim manipulatorom
2023. urn:nbn:hr:168:508191
Pliskovac, Lovro
University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

Pliskovac, L. (2023). Modelsko prediktivno upravljanje zračnim manipulatorom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:508191

Pliskovac, Lovro. "Modelsko prediktivno upravljanje zračnim manipulatorom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:508191

Pliskovac, Lovro. "Modelsko prediktivno upravljanje zračnim manipulatorom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:508191

Pliskovac, L. (2023). 'Modelsko prediktivno upravljanje zračnim manipulatorom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 14 January 2025, https://urn.nsk.hr/urn:nbn:hr:168:508191

Pliskovac L. Modelsko prediktivno upravljanje zračnim manipulatorom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2025 January 14] Available at: https://urn.nsk.hr/urn:nbn:hr:168:508191

L. Pliskovac, "Modelsko prediktivno upravljanje zračnim manipulatorom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:508191

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Metadata
TitleModelsko prediktivno upravljanje zračnim manipulatorom
Title (english)Model predictive control of an aerial manipulator
AuthorLovro Pliskovac
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (član povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberFrano Petric (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-14, Croatia
Abstract
U radu se prikazuje implementacija i evaluacija strategije modelskog prediktivnog upravljanja (LMPC) zračnog manipulatora, točnije heksakoptera. Cilj je postići precizno praćenje putanje i kontrolu zračnog manipulatora. U radu se pažnja posvećuje formulaciji i primjenu LMPC pristupa, koji uključuje korištenje lineariziranog modela sustava i rješavanje optimizacijskog problema za određivanje optimalnih upravljačkih ulaza.
Abstract (english)
This thesis presents the implementation and evaluation of a linear model predictive control (LMPC) strategy for an aerial manipulator, specifically a hexacopter. The primary objective is to achieve precise trajectory tracking and control of the multirotor system. The thesis focuses on the formulation and application of the LMPC approach, which involves utilizing a linearized model of the system and solving an optimization problem to determine optimal control inputs.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:508191
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-10-11 10:10:46