Embedded Model Control: Design separation under uncertainty

Canuto, Enrico; Montenegro, Carlos Norberto Perez; Colangelo, Luigi; Lotufo, Mauricio Alejandro

doi:10.1109/chicc.2014.6895544

Cited by 15 publications

(3 citation statements)

References 13 publications

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“…The approach adopted in the AOCS design for the NGGM mission is based on the Embedded Model Control (EMC) design methodology [4,5], which calls for a hierarchical and multi-rate control unit around the real-time internal model of the satellite controllable dynamics. This internal (or embedded) model describes the controllable dynamics and the disturbance dynamics.…”

Section: Introductionmentioning

confidence: 99%

Embedded model control GNC for the Next Generation Gravity Mission

et al. 2017

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A Next Generation Gravity Mission (NGGM) concept for measuring the Earth's variable gravity field has been recently proposed by ESA. The mission objective consists in measuring the temporal variations of the Earth gravity field over a long time span, with very high spatial and temporal resolutions. This paper focuses on the guidance, navigation and control (GNC) design for the science phase of NGGM mission. NGGM will consist of a two-satellite long-distance formation like GRACE, where each satellite will be controlled to be drag-free like GOCE. Satellite-to-satellite distance variations, encoding gravity anomalies, will be measured by laser interferometry. The formation satellites, distant up to 200 km, will fly in a quasi-polar orbits at an Earth altitude between 300 and 450 km. Orbit and formation control counteract bias and drift of the residual drag-free accelerations, in order to reach orbit/formation long-term stability. Drag-free control allows the formation to fly counteracting the atmospheric drag, ideally subject only to gravity. Orbit and formation control, designed through the innovative Integrated Formation Control (IFC), have been integrated into a unique control system, aiming at stabilizing the formation triangle consisting of satellites and Earth Center of Masses. In addition, both spacecraft must align their control axis to the satellite-to-satellite line (SSL) with micro-radiant accuracy. This is made possible by specific optical sensors and the inter-satellite laser interferometer, capable of materializing the SSL. Such sensors allow each satellite to pursue an autonomous alignment after a suitable acquisition procedure. Pointing control is severely constrained by the angular drag-free control which must ideally zero the angular acceleration vector, in the science frequency band. The control unit has been designed according to the Embedded Model Control methodology and is organized in a hierarchical way, where drag-free control plays the role of a wide-band inner loop, and orbit/formation and attitude/pointing controls are narrow band outer loops. The relevant state equations are converted to discrete time providing the embedded model, part of the control unit. The state predictor, control law and reference generator are built on and interfaced to the embedded model. Simulated results, via a high-fidelity simulator, prove the concept validity and show that the control performances are in agreement with the defined mission requirements. Indeed, the presented control strategy has been shown capable of keeping the attitude and formation variables stable within the required boundaries, all over the 10-year mission, through a low-thrust authority in the order of few milli-Newton.

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Section: Introductionmentioning

confidence: 99%

Embedded model control GNC for the Next Generation Gravity Mission

et al. 2017

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“…The first one is a model identified from experimental data of the involved quadrotor actuators; this model is crucial for control design. The second one is an algorithm for the quadrotor single axial attitude control; the algorithm is based on the Embedded Model Control (EMC) methodology, [3], [4]. The third contribution consists in the presentation of the EMC control results obtained in several experimental tests, carried out on a laboratory single axial testbench, see Fig.…”

Section: Introductionmentioning

confidence: 99%

“…EMC design involves the design of 1) an extended observer, finalized at predicting state values from gyroscope measurement; 2) a control law, able to perform active disturbance rejection. Thanks to these features, EMC can be very effective in situations involving relevant disturbances, modeling errors and unknown nonlinearities, allowing an efficient cancellation of these sources on uncertainty, [3], [4]. Note that the quadrotor control has been addressed using standard approaches in several papers, see, e.g., [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Identification and control of a quadrotor from experimental data

Lotufo

Perez-Montegro

Colangelo

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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The paper presents experimental results related to attitude control of a quadrotor rotating about a single axis. The Embedded Model Control (EMC) methodology is used for control design. Indeed, this methodology can be very effective in applications involving relevant disturbances, modeling errors and unknown nonlinearities, since it allows a cancellation of all these sources of uncertainty. EMC control design is performed from a detailed quadrotor model, where the actuator dynamics is identified from experimental data. The designed EMC controller is compared with a standard proportionalintegral-derivative (PID) controller in several tests, carried out on a laboratory testbench.

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