Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža

Kasać, Josip

prikaz prve stranice dokumenta Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža

Download
PDF 3.16 MB

scientific master's theses

Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža

Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 1998. urn:nbn:hr:235:526023

Kasać, Josip

University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Cite this document

APA 6th Edition

Kasać, J. (1998). Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža (Scientific master's theses). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:526023

MLA 8th Edition

Kasać, Josip. "Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža." Scientific master's theses, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 1998. https://urn.nsk.hr/urn:nbn:hr:235:526023

Chicago 17th Edition

Harvard

Kasać, J. (1998). 'Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža', Scientific master's theses, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 20 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:526023

Vancouver

Kasać J. Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža [Scientific master's theses]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 1998 [cited 2024 April 20] Available at: https://urn.nsk.hr/urn:nbn:hr:235:526023

IEEE

J. Kasać, "Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža", Scientific master's theses, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 1998. Available at: https://urn.nsk.hr/urn:nbn:hr:235:526023

Cite this item: https://urn.nsk.hr/urn:nbn:hr:235:526023

Please login to the repository to save this object to your list.

Metadata

Title	Optimalno upravljanje nelinearnim sustavima primjenom neuronskih mreža
Title (english)	Optimal control of nonlinear systems using neural networks
Author	Josip Kasać
Mentor	Branko Novaković (mentor)
Committee member	Branko Novaković (predsjednik povjerenstva)
Granter	University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb
Defense date and country	1998-11-05, Croatia
Scientific / art field, discipline and subdiscipline	TECHNICAL SCIENCES Mechanical Engineering
Universal decimal classification (UDC)	621 - Mechanical engineering. Nuclear technology. Machinery 004 - Computer science and technology. Computing. Data processing
Abstract	U radnji je prikazan izvod numeričkoga logoritma za optimalno upravljanjene linearnim multivarijabilnim sustavima sa ograničenjima varijabli stanja i upravljanja. Izvod algoritma zasnovan je na BPTT (backpropagation-through-time) algoritmu koji se primjenjuje kao algoritam učenja za dinamičke neuronske mreže. Izveden je također algoritam za vremenski optimalno upravljanje koji je zasnovan na svojstvima kaznenih funkcija za ograničenja varijabli stanja i upravljanja. Dobiveni algoritmi primijenjeni su na razne probleme optimalnog upravljanja robotom s dva stupnja slobode. Najprije je razmatran problem vremenski optimalnog upravljanja robotom s ograničenjima varijabli upravljanja. Zatim je razmatran isti problem s dodatnim uvjetom; zaobilaženjem prepreke, odnosno ograničenjima varijabli stanja. Nakon toga razmatra se problem optimalnog upravljanja kooperativnim radom dva robota. Problem se sastoji u zajedničkom prenošenju krutog tereta s jednog mjesta na drugo uz ograničenja varijabli upravljanja, te uz uvjet međusobnog izbjegavanja sudara i održavanja konstantne udaljenosti između prihvatnica manipulatora. Nakraju je prikazan izvod algoritma za optimalno upravljanje s povratnom vezom za nelinearne multivarijabilne sustave s ograničenjima varijabli upravljanja. Izvod algoritma također je zasnovan na principu BPTT algoritma.
Abstract (english)	The master's thesis presents the derivation of the numerical algorithm for optimal control of nonlinear multivariable systems with limited state and control vectors. The algorithm derivation is based on the BPTT (backpropagation-through-time) algorithm which is used as a learning algorithm for dynamic neural networks. Presented is also the derivation of the algorithm for time optimal control which is based on the characteristics of penalty functions for constraints of state and control vectors. The derived algorithms are used for various problems concerning optimal robot control with two degrees of freedom. The thesis first deals with the problem of time optimal robot control with control vector constraints. It also considers the same problem with an additional condition - avoidance of obstacles, that is, constraint of state vectors. The thesis further deals with the problem of optimal control of cooperative work of two robots, that is, of joint transfer of solid material from one place to another including control vector constraint and conditions of mutual avoidance of clashes and maintaining of constant distance between the hands of the robot. Derivation of the optimal control algorithm with a feedback for nonlinear multivariable systems with control vector constraint is presented at the end. This derivation is also based on the BPTT algorithm.
Keywords
Keywords (english)
Language	croatian
URN:NBN	urn:nbn:hr:235:526023
Study programme	Title: Mechanical Engineering - mr.sc. Study programme type: university Study level: postgraduate Academic / professional title: magistar znanosti (magistar znanosti)
Type of resource	Text
File origin	Born digital
Access conditions	Open access
Terms of use
Repository	Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on	2021-02-08 11:49:05

Nacionalna i sveučilišna knjižnica u Zagrebu

Dabar