Guiamento, Navegação e Controlo

Objectives

The main objective of this course is to provide an introduction to fundamental concepts involved in the design and implementation of guidance, navigatoin, and control systems in space vehicles. The following intermediate goals are considered: - Identify the preliminary phases of vehicle modeling and design, and orbits. - Revisit and apply key concepts from systems theory. - Understand, implement, and experimentally test motion control and state estimation solutions rooted in linear and nonlinear control and estimation theory.

Syllabus

1 Introduction to GNC: Space missions. Onboard systems. Functional Architecture. Flight control center. Telecommunication systems. Payload. Examples. 2 Introduction to the project and systems sellection. Kinematics and dynamics of vehicles. Orbits. Energy constraints. 3 Onboard Sensors and Actuators 4 State estimation and navigation. State space representation. Sensor Fusion. Kalman filtering. Mechanizations for navigation. Examples 5 Modern Control Project. Linear State Feedback. Optimal Linear Quadratic Control. Stationary case. Examples of auto-pilots. 6 Introduction to Nonlinear Control. Diferences relative to the linear case. Linearization. Lyapunov stability. Examples. 7 Guidance: kninemaic and dynamic models. Dubins, way points and coverture algorithms. Examples: driving to a stright line, hovering and homing. 8 Integrated design of GNC systems.

Prerequisites

Knowledge of fundamentals of Linear Algebra, Differential and Integral Calculus, Sensors and Actuators, Introduction to Control, and light Control.

Cross Competence Component

The lab work will offer the students the opportunity to develop the following skills: 1) Critical and innovative thinking: critical analysis of situations and results obtained in theoretical analysis, simulations, and experiments. 2) Interpersonal skills: group communication and workload distribution. 3) Information and media literacy: exploitation of computational and media tools from a users perspective; ii) report preparation. Soft skills will account for 20% of the evaluation of the laboratory component.

Laboratorial Component

The laboratory assignements are: i) Problem formulation and simulation in MATLAB/Simulink. ii) Guidance, Navigation, and Control in n MATLAB/Simulink. iii) Project validation with vehicles in the lab.

Programming And Computing Component

MATLAB/Simulink.

Ethical Principles

All members of a group are responsible for the group’s work In any assessment, every student shall honestly disclose any help received and sources used. In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.