Robust Consensus of Second-Order Heterogeneous Multi-Agent Systems via Dynamic Interaction

A consensus problem is proposed for second-order multi-agent systems with heterogeneous mass distribution. The motivation of this work is mainly related to spacecraft attitude coordinated control, in which gyroless configuration is considered, to avoid drift errors and design of estimation filters. The considered spacecraft includes flexible modes and coupling between the rigid and flexible dynamics. Dynamic interaction between the agents is considered. Moreover, the achievement of the consensus and robust stabilization are shown for coordinated heterogeneous multi-agent systems, for undirected and connected graph topology. Finally, the effectiveness of the proposed controller is shown for a precise pointing mission of the Crab Nebula

Design of Sliding Mode Techniques for a CMG-based Testbed Attitude Control System

Precise pointing accuracy and rapid maneuvering are two key features for attitude control missions of small spacecraft. Control moment gyroscopes (CMGs) are applied as ideal actuator for large torque output capability but are usually limited due to the problem of inherent mechanical singularity. This paper proposes a robust attitude control methodology, based on Sliding Mode Control (SMC) techniques, in presence of CMG practical restrictions and disturbances. Two second-order SMC techniques are designed, to guarantee accuracy and limited convergence time. Moreover, attitude control torques are generated by means of four single gimbal CMGs in pyramidal configuration, considering the design of an experimental testbed. The effectiveness of the proposed methodologies are shown in simulations, for different mission scenarios, including singularity points

A Comprehensive Robust Adaptive Controller for Gust Load Alleviation

The objective of this paper is the implementation and validation of an adaptive controller for aircraft gust load alleviation. The contribution of this paper is the design of a robust controller that guarantees the reduction of the gust loads, even when the nominal conditions change. Some preliminary results are presented, considering the symmetric aileron deflection as control device. The proposed approach is validated on subsonic transport aircraft for different mass and flight conditions. Moreover, if the controller parameters are tuned for a specific gust model, even if the gust frequency changes, no parameter retuning is required

Effects of tractor passes on hydrological and soil erosion processes in tilled and grassed vineyards

Soil erosion is affected by rainfall temporal patterns and intensity variability. In vineyards, machine traffic is implemented with particular intensity from late spring to harvest, and it is responsible for soil compaction, which likely affects soil hydraulic properties, runoff, and soil erosion. Additionally, the hydraulic and physical properties of soil are highly influenced by vineyards’ inter-rows soil management. The effects on soil compaction and both hydrological and erosional processes of machine traffic were investigated on a sloping vineyard with different inter-row soil managements (tillage and permanent grass cover) in the Alto Monferrato area (Piedmont, NW Italy). During the investigation (November 2016–October 2018), soil water content, rainfall, runoff, and soil erosion were continuously monitored. Field-saturated hydraulic conductivity, soil penetration resistance, and bulk density were recorded periodically in portions of inter-rows affected and not affected by the machine traffic. Very different yearly precipitation characterized the observed period, leading to higher bulk density and lower infiltration rates in the wetter year, especially in the tilled vineyard, whereas soil penetration resistance was generally higher in the grassed plot and in drier conditions. In the wet year, management with grass cover considerably reduced runoff (−76%) and soil loss (−83%) compared to tillage and in the dry season. Those results highlight the need to limit the tractor traffic, in order to reduce negative effects due to soil compaction, especially in tilled inter-rows

Tube-based robust model predictive control for spacecraft proximity operations in the presence of persistent disturbance

Rendezvous and Proximity Operations (RPOs) of two autonomous spacecraft have been extensively studied in the past years, taking into account both the strict requirements in terms of spacecraft dynamics variations and the limitations due to the actuation system. In this paper, two different Model Predictive Control (MPC) schemes have been considered to control the spacecraft during the final phase of the rendezvous maneuver in order to ensure mission constraints satisfaction for any modeled disturbance affecting the system. Classical MPC suitably balances stability and computational effort required for online implementation whereas Tube-based Robust MPC represents an appealing strategy to handle disturbances while ensuring robustness. For the robust scheme, the computational effort reduction is ensured adopting a time-varying control law where the feedback gain matrix is evaluated offline, applying a Linear Matrix Inequality approach to the state feedback stabilization criterion. An extensive verification campaign for the performance evaluation and comparison in terms of constraint satisfaction, fuel consumption and computational cost, i.e. CPU time, has been carried out on both a three degrees-of-freedom (DoF) orbital simulator and an experimental testbed composed by two Floating Spacecraft Simulators reproducing a quasi-frictionless motion. Main conclusions are drawn with respect to the mission expectations

Drilling polymeric matrix composites

This chapter presents the basics of drilling of polymeric matrix composites (PMCs). PMCs are becoming widely used in the manufacturing of products where a high mechanical strength must be accompanied by a low weight. However, the machining of PMCs implies coping with problems that are not encountered when machining other materials. Drilling is a particularly critical operation for PMCs laminates because the large concentrated forces generated can lead to widespread damage. This damage causes aesthetic problems but, more importantly, may compromise the mechanical properties of the finished part