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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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