Percorrer por autor "Serra, Pedro"

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    Assessment of a Supervisory Fault-Hiding Scheme in a Classical Guidance, Navigation and Control Setup: the e.Deorbit mission
    (4th International Conference on Control and Fault-Tolerant Systems (SYSTOL), 2019-09-18) Cieslak, Jérôme; Henry, David; Colmenarejo, Pablo; Branco, João; Santos, Nuno; Serra, Pedro; Telaar, Jüergen; Strauch, Hans; Giordano, Alessandro; Stefano, Marco; Ott, Christian; Reiner, Matthias; Jaworski, Jaroslaw; Papadopoulos, Evangelos; Visentin, Gianfranco; Ankersen, Finn; Gil-Fernandez, Jesus; Escola de Comunicação, Arquitetura, Artes e Tecnologias da Informação
    The design of a model-based Fault Tolerant Control (FTC) strategy based on Virtual Actuators (VA) in a built-in Guidance, Navigation and Control (GNC) setup is addressed for the e.Deorbit space mission. This mission, initiated by the European Space Agency (ESA), aims at removing a large defunct satellite from Earth orbit: ENVISAT. The goal of this paper is to promote academic solutions to add fault tolerance capacities against thruster faults without any change or new tuning of the already in-place GNC solution. The validation of the proposed FTC solution is assessed by a simulation campaign based on a high-fidelity nonlinear industrial simulator.
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    Methods and outcomes of the COMRADE project - Design of robust Combined control for robotic spacecraft and manipulator in servicing missions: comparison between between Hinf and nonlinear Lyapunov-based approaches
    (69th International Astronautical Congress (IAC), 2018-10-01) Colmenarejo, Pablo; Branco, João; Santos, Nuno; Serra, Pedro; Telaar, Juergen; Strauch, Hans; Fruhnert, Michael; Giordano, Alessandro; Stefano, Marco; Ott, Christian; Reiner, Matthias; Henry, David; Jaworski, Jaroslaw; Papadopoulos, Evangelos; Visentin, Gianfranco; Ankersen, Finn; Gil-Fernandez, Jesus; Escola de Comunicação, Arquitetura, Artes e Tecnologias da Informação
    Extending life or repairing damaged on-orbit assets is not only a very attractive economic option for satellite operators as it could potentially increase margins for commercial services or increasing delivered value of scientific missions, but it would also help reducing the number of debris objects in space. These types of servicing missions pose technical challenges never faced until now. Of utmost relevance is the autonomous control of several movable devices, whose dynamics are inter-coupled (e.g., spacecraft platform, robotic manipulator, and end-effector), needed to safely and effectively achieve the mission objective. In the frame of ESA-supported COMRADE study, fully combined control (single control system controlling simultaneously all movable devices) is proposed due to its higher improvement potential (propellant saving, performances increase, safety) w.r.t. tele-operation, decoupled and/or collaborative control (the last one characterized by the use of two different control systems for the spacecraft platform and robotic manipulator respectively but, differently to the decoupled version, with information/feedback about what the other control system intends to do). Two independent combined control designs are developed in COMRADE (H∞ and nonlinear Lyapunov-based), and tested. Each of them is applied for both Active Debris Removal (ADR) and servicing/re-fuelling mission scenarios. This paper presents: the processes of scenario analysis and derivation of COMRADE system requirements; a description of the design and setup for a Simulator, which included at its core the selection, prototyping and integration of algorithms for Guidance, Navigation and Control (GNC), Modes Management (AMM) and Failures Detection, Isolation and Recovery (FDIR) (all three together compose the COMRADE system) and the outcomes of the simulation phase of the Verification & Validation process.
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    Model-based fault diagnosis and tolerant control: the ESA’s e.Deorbit mission
    (European Control Conference (ECC19), 2019) Henry, David; Cieslak, Jérôme; Zenteno, J.; Colmenarejo, Pablo; Branco, João; Santos, Nuno; Serra, Pedro; Telaar, Jüergen; Strauch, Hans; Giordano, Alessandro; Ott, Christian; Reiner, Matthias; Jaworski, Jaroslaw; Papadopoulos, Evangelos; Visentin, Gianfranco; Ankersen, Finn; Gil-Fernandez, Jesus; Escola de Comunicação, Arquitetura, Artes e Tecnologias da Informação
    The ESA (European Space Agency) is currently pursuing the development of the e.Deorbit mission that will remove a large defunct satellite from Earth orbit: ENVISAT. To fulfil the mission autonomy requirements, ESA has decided to embed in the GNC (Guidance, Navigation, Control) software, fault tolerance capacities against actuator faults. The aim of this paper is to present the development and validation of a model-based fault diagnosis and tolerant control solution for such faults. The proposed solution is based on a new class of nonlinear unknown input observers, optimal in the L2-gain sense, and a modified version of the nonlinear inverse pseudo control allocation technique. An intensive simulation campaign conducted within a high-fidelity nonlinear industrial simulator, demonstrates the efficiency of the approach.
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    On ground validation of debris removal technologies
    (Elsevier Science, 2019) Colmenarejo, Pablo; Graziano, Mariella; Novelli, Gabriele; Mora, Dario; Serra, Pedro; Tomassini, Angelo; Seweryn, Karol; Prisco, Gaetano; Fernandez, Jesus Gil; Escola de Comunicação, Arquitetura, Artes e Tecnologias da Informação
    The goal of the activity On-ground Validation of Debris Removal Technologies, ORCO, has been to investigate and mature the complex couplings between the different control systems (GNC including image processing and robotics) for autonomous rigid capture between an active chaser vehicle and a cooperative/non-cooperative target, and derive the required algorithms and perform a HW-in-the-loop end-to-end demonstration. The prototyped solution is tested in the most realistic conditions obtainable on ground, including also the dynamics of the system as well as the relative visual based navigation system. The on-ground validation and integration is performed taking advantage of the GMV platform-art© dynamic test facility located in Madrid, Spain, with the addition of the hardware provided by the partners: robotic system from CBK (Poland) and visual system from TSD (Italy).