Modelsko prediktivno upravljanje bespilotnim zrakoplovom s fiksnim krilima

master's thesis

• Title (english): Model predictive control of unmanned fixed-wing aircraft
• Author: Josip Spudić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-09-18, Croatia

Abstract

Autonomna bespilotna zračna vozila (UAV) postaju sve važnija u različitim industrijama, uključujući geodetske izmjere, transport poštanskih paketa i dostavu hrane. Među raznim vrstama UAV-a, multirotori su popularni zbog svoje manevriranosti i sposobnosti vertikalnog polijetanja i slijetanja, no ograničeni su dometom i nosivošću. Za primjene koje zahtijevaju široko pokrivanje, poput poljoprivrednog nadzora i inspekcija infrastrukture, prikladniji su UAV-i s nepomičnim krilima. Međutim, UAV-i s nepomičnim krilima suočavaju se s izazovima u nepovoljnim vremenskim uvjetima, što zahtijeva napredne algoritme upravljanja za optimizaciju performansi. Ovaj rad se fokusira na primjenu Model Prediktivnog Upravljanja (MPC) za lateralno upravljanje, upravljanje elevonima za podešavanje kuta valjanja i kursa zrakoplova, dok se koristi Total Energy Control System (TECS) za longitudinalno upravljanje, reguliranje gasa i kuta nagiba. Integracija ovih naprednih strategija upravljanja ima za cilj poboljšati učinkovitost i pouzdanost operacija UAV-a s nepomičnim krilima.

Abstract (english)

Autonomous unmanned aerial vehicles (UAVs) are becoming increasingly prominent across diverse industries, including surveying, postal package transport, and food delivery. Among various UAV types, multirotors are favored for their maneuverability and vertical takeoff and landing capabilities but are limited by range and payload capacity. For applications requiring extensive coverage, such as agricultural monitoring and infrastructure inspections, fixed-wing UAVs are more suitable. However, fixed-wing UAVs face challenges in adverse weather conditions, necessitating advanced control algorithms for performance optimization. This thesis focuses on the application of Model Predictive Control (MPC) for lateral control, managing elevons to adjust the roll angle and heading of the aircraft, while utilizing Total Energy Control System (TECS) for longitudinal control, regulating throttle and pitch angle. The integration of these advanced control strategies aims to enhance the efficiency and reliability of fixed-wing UAV operations.

• Keywords: UAV; MPC; control; Dubins; TECS
• Keywords (english): UAV; MPC; upravljanje; Dubins; TECS
• Language: english
• URN:NBN: urn:nbn:hr:168:026956
• 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: 2024-10-12 22:09:04