Control of unmanned aerial vehicles by using algebraic signal derivatives filter

U ovom diplomskom radu razmatran je algebarski estimator stanja i njegova primjena za upravljanje sustava drugog reda te kvadkoptera uz pretpostavku mjerljivosti samo pozicije. Izvedene su jednadžbe dinamičkog modela oba sustava s kojima se pristupilo upravljanju i primjeni estimatora. Algebarski estimator iskorišten je za estimaciju brzina te estimaciju derivacija referentnih trajektorija. Estimator je primijenjen i za estimaciju poremećaja na sustavu drugoga reda. Uspoređene su poznate i estimirane vrijednosti varijabli stanja, te se prikazao utjecaj reda filtera na točnost estimacije. Provedena je simulacija upravljanja u slučaju s poznatim derivacijama referentne trajektorije te upravljanja u slučaju s estimiranim derivacijama za oba sustava.Throughout this master thesis application of algebraic derivatives estimator is discussed. An estimator is used to control a second-order system and quadcopter with the presumption that only position is measurable. Equations of dynamic models are derived for both systems which are then used to approach system control and algebraic estimator application. An algebraic estimator is used to estimate speed and to estimate derivations of desired referent trajectories. Also, an estimator is used to estimate disturbances in second-order systems. Observed and estimated state variables are compared, where estimator order influence is shown on the accuracy of estimations. Simulations were performed for both systems in two variants, one where derivatives of the desired trajectories are known, and others where they are estimated