Primjena adaptivne Hsia metode na stabilizaciju bespilotne letjelice u vjetrovitim uvjetima

master's thesis

• Title (english): UAV control under windy conditions based on adaptive Hsia method
• Author: Marko Car
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zoran Vukić (član povjerenstva)
• Committee member: Nikola Mišković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2015-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu dizajniran je i implementiran adaptivno-robusni algoritam upravljanja
koji osigurava stabilnost bespilotne letjelice u vjetrovitim uvjetima. Razvijeno je virtualno
okruženje u Gazebo ROS simulatoru gdje su korišteni već postojeći paketi za simulaciju
dinamike motora bespilotne letjelice i poremećaja uzrokovanih vjetrom. Implementirano
je kompletno upravljanje letjelicom u virtualnom okruženju, ugođeni su PID parametri
algoritma upravljanja te je ispitan rad adaptivno-robusnog algoritma. Nakon testiranja u
simulatoru, na bespilotnoj letjelici Arducopter implementirano je upravljanje visoke razine s
adaptivno-robusnim regulatorom. Razmatrane su dvije strukture upravljanja, jednopetljasta i
dvopetljasta. Nakon testiranja obje strukture upravljanja u laboratorijskom okruženju testiran
je rad predloženog adaptivno-robusnog algoritma.

Abstract (english)

In this thesis a robust adaptive control algorithm is designed and implemented. The task of
such a controller is to ensure stability of an UAV in windy conditions. Virtual environment is
developed in the Gazebo ROS simulator to simulate wind disturbances on a quadcopter UAV.
The control algorithm, which consists of four cascade loops with PID controller: angle, rate,
position and speed; was implemented and tested in a virtual environment. On top of, a robust
and adaptive controller structure has been derived. After successful simulation verification,
algorithm was tested in an emulated wind disturbance laboratory environment by conducting
experiments with and without robust and adaptive controller.

• Keywords: bespilotna letjelica; hsia; adaptivno upravljanje; robusno upravljanje; vjetar
• Keywords (english): unmanned aerial vehicle; hsia; adaptive control; robust control; wind disturbance
• Language: croatian
• URN:NBN: urn:nbn:hr:168:100793
• 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: 2018-02-06 08:09:15