20.500.12556/DKUM-71670 Adaptivno vodenje osnovano na algoritmih računske inteligence Adaptive control based on computational intelligence Na področju robotike obstaja ogromno nelinearnih sistemov, ki se še vedno vodijo z linearnimi regulatorji, čeprav ti niso optimalna rešitev za dani problem. V tem magistrskem delu je predstavljen hitrostni adaptivni nelinearni regulator, ki je sposoben voditi nelinearno progo boljše kot linearni regulatorji. Razviti regulator je sestavljen iz algoritma po vzorih iz narave, ki optimira vrednost referenčnega toka, in umetne nevronske mreže, ki je sposobna napovedati vrednost ocenitvene funkcije za izbrani algoritem. Pri tem primerjamo vpliv različnih algoritmov po vzorih iz narave na delovanje predlaganega regulatorja. V naši primerjalni analizi smo zajeli naslednje algoritme: evolucijsko strategijo, diferencialno evolucijo, optimizacijo z roji delcev in algoritmom po vzoru obnašanja netopirjev. In robotics, there are a lot of nonlinear systems, which are still controlled using linear controllers, even though they are not optimal solutions for the given problem. In this work, an adaptive nonlinear velocity controller is presented, which is better suited for control of nonlinear systems. The presented controller consists from nature inspired algorithm, which optimizes current reference, and artificial neural network, which is used for fitness function evaluation. A comparison of controller operation, when different nature inspired algorithms are used, is also presented in this work. Thus, the following nature inspired algorithms were captured in our comparison study: evolutionary strategy, differential evolution, particle swarm algorithm and bat algorithm. nelinearni adaptivni regulator umetne nevronske mreže evolucijski algoritmi algoritmi inteligence rojev Nonlinear adaptive controller Artificial neural networks Evolution algorithms Swarm intelligence algorithms true true false J. Šafarič Slovenski jezik Angleški jezik Magistrsko delo/naloga 2018-08-26 21:13:22 2018-10-19 12:15:36 2022-08-01 21:18:00 2019-07-11 18:50:35 2018 0 [Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.434:004.8(043.2) 21806102 URN:SI:UM:DK:I1AQ0SEM MAG_Safaric_Jakob_2018.pdf MAG_Safaric_Jakob_2018.pdf 1 C8F53FD0CFC95E1498410C2CD799D7FE 5b613c3ae2ae95b0b8b0879a57064baba5cbb4be490bfce6a49e5eeca8c1d736 3385b33f-7c10-11eb-bb7a-00155d0001ca 20.500.12556/dkum/3d65f51c-e21a-4e10-b12f-0f2555758cea https://dk.um.si/Dokument.php?lang=slv&id=127832 MAG_Safaric_Jakob_2018.zip MAG_Safaric_Jakob_2018.zip 1 816FFA9846A8E85BC6F420D99C04E0C6 384718dac7eb4522df95eb70984b053c4e4ddb6e86a0418c3f7728f2a4b47948 333dbb20-7c10-11eb-bb7a-00155d0001ca 20.500.12556/dkum/3fd3510b-d105-493a-a389-1a770d987678 https://dk.um.si/Dokument.php?lang=slv&id=127813 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0