In Space applications, StreamRobotics activities and researches are focused in innovative solutions for Guidance Navigation and Control (GNC) systems. We carry out research activities in these different areas:
Rendezvous and Proximity Operations maneuvers,
Precise attitude control and chattering attenuation in sliding mode control algorithms
Adaptive control and guidance of reconfigurable spacecraft: application for mars precision landing
Design of Navigation, Guidance and Control Algorithms for a Space TUG and On-Orbit Servicing
Assessment of Test Masses Control for the L3 gravity wave observator (see Other Projects)
Development of a six degree-of-freedom (DOF) orbital simulator. The Hill equations are used for the definition of the orbital dynamics, while the Euler equation is used for attitude dynamics.
Definition of a guidance algorithm based on the theory of Artificial Potential Field (APF) to find the path that leads the Chaser satellite toward the Target, avoiding moving obstacles.
Design of two different first order Sliding Mode Control (SMC) methods to manage the position dynamics of the Chaser and the development of a Super-Twisting SMC to manage the attitude dynamics of the Chaser.
Implementation of navigation algorithms based on the theory of Sliding Mode. The activities are focused on the design of Sliding Mode Observers to provide state-estimation for sensorless spacecraft.
Involved People: Nicoletta Bloise, Mauro Mancini. Scientific coordination: Elisa Capello. In collaboration with CNR-IEIIT, Italy.
Development of a 3-DOF orbital simulator for attitude dynamics of the spacecraft.
Development of automatic control laws to obtain precise attitude control. These control laws are based on the theory of sliding mode.
Implementation of strategies for chattering attenuation of the command line, including hardware constraints and orbital disturbances.
Involved People: Nicoletta Bloise, Mauro Mancini. Scientific coordination: Elisa Capello. In collaboration with CNR-IEIIT, Italy.
Development of a dynamic model for the dynamics of reconfigurable and flexible spacecraft.
Implementation of robust and adaptive control laws to manage the dynamics of such modular systems.
Development of a model to simulate the Martian environment.
Development of guidance algorithms capable of pinpoint-landing, adaptive and able to generate constrained trajectory shall be designed.
Involved People: Mauro Mancini. Scientific coordination: Elisa Capello.
Evaluation and design of different GNC strategies for far and close range approach in Rendez-vous and docking maneuvers in a system equipped with a robotic arm scenario, with the discussion extended to berthing maneuvers.
Implementation of a Sliding Mode Observer for the Navigation section, exploiting a performance analysis to compare Linear and Super-Twisting observer behaviour, along with the Extended Kalman Filter.
Design Radial and Tangential Boost for far range approach maneuvers, Artificial Potential Field (APF) and Zero-Effort-Miss/Zero-Effort-Velocity (ZEM/ZEV) for close range approach maneuvers and evaluation of their energetic cost for the G&C section.
Implementation of the manipulator Kinematics (forward & inverse) using Denavit-Hartenberg convention and definition of manipulator equations of motions via Lagrangian approach.
Design of a Reinforcement Learning based Controller for the manipulator motion, including uncertainties on initial conditions and goals, to reduce disturbance effects on the spacecraft.
Validation of GNC algorithms through the experimental testbed in Thales Alenia Space facility (see below).
Courtesy by Thales Alenia Space. See paper "Design and development of guidance navigation and control algorithms for spacecraft rendezvous and docking experimentation", Acta Astronautica, 2014.
Involved People: Pierangela Morga. Scientific coordination: Elisa Capello. In collaboration with Thales Alenia Space.