## Tesi etd-08202019-141832 |

Thesis type

Tesi di laurea magistrale

Author

AGNESI, RUBEN

URN

etd-08202019-141832

Title

Robust control of asteroids' bearing rate during mineral extraction

Struttura

INGEGNERIA DELL'INFORMAZIONE

Corso di studi

INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE

Commissione

**relatore**Prof. Caiti, Andrea

**relatore**Prof. Innocenti, Mario

Parole chiave

- robust
- control
- asteroid
- asteroids
- bearing
- rate
- mineral
- extraction
- minerals
- McFarlane
- mcFarlane
- mcfarlane
- Glover
- glover
- coprime
- uncertainty
- uncertainties
- angular
- momentum
- angular
- velocity
- Kalman
- kalman
- filter
- inertia
- tensor
- density
- change
- modification
- H
- h
- infinity

Data inizio appello

27/09/2019;

Consultabilità

secretata d'ufficio

Riassunto analitico

In this work we deal with the control of the asteroids' bearing rate during mineral extraction. Indeed during the extraction we modify the density and therefore the asteroid's inertia tensor. Due to the conservation of the angular momentum, this change modifies also its angular velocity. Our goal is to keep the angular velocity as if no human activities happened on it. Obviously this is possible within a certain level of accuracy: our objective is to keep the error's magnitude below the 0.1% of the maximum angular velocity magnitude. In order to do it we use an H infinity controller, based on the Glover McFarlane procedure (1990). A Kalman filter and a proper pre-estimator, based on a supposed limited acknowledgement of the asteroid's physical characteristics, are needed in order to estimate the value of the actual angular velocity, which is not known by a suitable accuracy using only the measurements of the gyroscopes.

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