Upravljanje impedancijom letjelice uz estimaciju krutosti okoline

master's thesis

• Title (english): Impedance control of aerial vehicle with environment stiffness estimation
• Author: Ana Lovrić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Cilj je ovog diplomskog rada bilo poboljšanje algoritma upravljanja po impedanciji bespilotne letjelice u kontaktu s nepoznatim okruženjem.
Ovo je postignuto uvođenjem rekonstruktora varijabli stanja okoline kojim se estimiraju nepoznati parametri okoline. U radu su teoretski razrađeni: konvencionalno upravljanje po impedanciji bespilotne letjelice, Kelvin - Voigt model viskoelastičnog materijala kojim je okolina opisana te prošireni Kalman filtar koji je korišten za estimaciju nepoznatih parametara okoline.
Nadalje, rekonstruktor je testiran u otvorenoj upravljačkoj petlji na simulacijskom i eksperimentalnom skupu podataka. Obrađeno je i projektiranje regulatora kojim se generira referentni signal za impedancijski filtar. Parametri regulatora podešeni su na temelju vrijednosti parametara krutosti okoline dobivenog estimacijom.

Abstract (english)

The aim of this master thesis was to improve the impedance control algorithm of an unmanned aerial vehicle interacting with an unknown environment.
This has been achieved by introducing an environment observer that estimates the unknown parameters of the environment. In this thesis the following are described: the standard approach to impedance control of an unmanned aerial vehicle, Kelvin - Voigt material model, used to define the unknown environment, and the Extended Kalman Filter, used for estimating the unknown environment parameters.
Furthermore, the observer was validated in an open control loop using a simulation and experimental data set. Finally, a regulator was designed to generate the reference position for the impedance control filter. The parameters of the regulator were tuned using the estimated environment stiffness value.

• Keywords: Upravljanje impedancijom; Bespilotne letjelice; UAV; UAM; Interakcija letjelice i okline; estimacija okoline; Kalman filter; EKF; model okoline; Kelvin-Voigt; Estimacija krutosti; Regulator impedancije
• Keywords (english): Impedance control; Unmanned Aerial Vehicles; UAV; UAM; Interaction with enviroment; Environment estimation; Kalman filter; EKF; Environment model; Kelvin-Voigt; Estimating stiffness; Impedance controller
• Language: croatian
• URN:NBN: urn:nbn:hr:168:147737
• 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: 2020-01-07 19:46:16