\select@language {croatian}
\contentsline {chapter}{\numberline {1.}Uvod}{1}
\contentsline {chapter}{\numberline {2.}PlaDyPos - Platforma za dinami\IeC {\v c}ko pozicioniranje i okru\IeC {\v z}enje}{2}
\contentsline {section}{\numberline {2.1.}Okru\IeC {\v z}enje}{2}
\contentsline {section}{\numberline {2.2.}PlaDyPos}{3}
\contentsline {subsection}{\numberline {2.2.1.}Sustav propulzije}{4}
\contentsline {subsection}{\numberline {2.2.2.}Napajanje}{4}
\contentsline {subsection}{\numberline {2.2.3.}Be\IeC {\v z}i\IeC {\v c}na komunikacija}{5}
\contentsline {subsection}{\numberline {2.2.4.}Korisni\IeC {\v c}ko su\IeC {\v c}elje i upravljanje}{6}
\contentsline {chapter}{\numberline {3.}Matemati\IeC {\v c}ko modeliranje}{7}
\contentsline {section}{\numberline {3.1.}Koordinatni sustavi}{7}
\contentsline {section}{\numberline {3.2.}Matemati\IeC {\v c}ki model platforme}{8}
\contentsline {subsection}{\numberline {3.2.1.}Model potisnika}{8}
\contentsline {subsection}{\numberline {3.2.2.}Alokacija aktuatora}{9}
\contentsline {subsection}{\numberline {3.2.3.}Dinamika}{10}
\contentsline {subsection}{\numberline {3.2.4.}Kinematika}{10}
\contentsline {chapter}{\numberline {4.}Definicija problema slije\IeC {\dj }enja linija}{12}
\contentsline {section}{\numberline {4.1.}Definiranje upravlja\IeC {\v c}kih pravila}{12}
\contentsline {section}{\numberline {4.2.}Kona\IeC {\v c}ni automat za prebacivanje na pra\IeC {\'c}enje slijede\IeC {\'c}e linije}{15}
\contentsline {chapter}{\numberline {5.}Dizajn regulatora}{17}
\contentsline {section}{\numberline {5.1.}Odabir modelske funkcije}{17}
\contentsline {section}{\numberline {5.2.}Sinteza regulatora u kontinuiranoj domeni}{18}
\contentsline {section}{\numberline {5.3.}Analiza to\IeC {\v c}nosti u ustaljenom re\IeC {\v z}imu rada}{20}
\contentsline {section}{\numberline {5.4.}Efekt namatanja integratora}{21}
\contentsline {section}{\numberline {5.5.}Diskretizacija regulatora i kona\IeC {\v c}ne rekurzivne jednad\IeC {\v z}be}{22}
\contentsline {section}{\numberline {5.6.}Dinami\IeC {\v c}ko pozicioniranje}{23}
\contentsline {section}{\numberline {5.7.}Regulator orijentacije}{24}
\contentsline {chapter}{\numberline {6.}Rezultati}{26}
\contentsline {section}{\numberline {6.1.}Test 1}{26}
\contentsline {section}{\numberline {6.2.}Test 2}{29}
\contentsline {section}{\numberline {6.3.}Test 3}{32}
\contentsline {chapter}{\numberline {7.}Zaklju\IeC {\v c}ak}{35}
\contentsline {chapter}{Literatura}{36}
