Application of Discrete-Time High Order Control Barrier Functions for a prototype multi-spacecraft inspection of the ISS
Time: Thu 2022-12-15 09.30 - 10.30
Location: Kitchen meeting room Malvinas väg 10 - A:641
Video link: https://kth-se.zoom.us/j/66981943648
Respondent: Gregorio Marchesini , Reglerteknik/DCS
Opponent: Andreu Matoses Gimenez
Supervisor: Pedro Alexandre Delgado Roque
Examiner: Dimos Dimarogonas
In the past few years, the application of Control Barrier Functions (CBF) and High Order Control Barrier Functions (HOCBF) as a suitable framework to ensure safety for autonomous systems has raised increasing interest. Especially autonomous space systems are frequently subject to safety-critical constraints due to the high costs involved in manufacturing and launching. In the present work, the application of a sample data MPC controller subject to CBF and HOCBF constraints is explored as a suitable solution for spacecraft formation flight operations. Namely, a prototype inspection mission of the International Space Station through a multi-agent formation of CubeSats is explored. Each CubeSat is supposed to be injected in a passive relative orbit around the ISS and controlled such that the state of each agent is maintained within a prescribed safe corridor from its reference relative orbit. Suitable conditions on the minimum control authority required to guarantee the constraints satisfaction within the MPC scheme formulation are derived and a numerical procedure to assess the recursive feasibility of the designed controller is presented. Moreover, suitable analytical modifications of the classical CBF and HOCBF constraints definitions are introduced such that the presented sample data MPC control scheme is guaranteed to ensure safety for the state of each agent in between sampling intervals. Eventually, the prescribed control strategy is validated numerically through computer simulation.
Gregorio Marchesini received his Bachelor's Degree in aerospace engineering from the University
of Bologna and he is currently concluding his Master's Degree in Space Engineering at KTH University under the Decision and Control Systems departments.
For the spring semester 2021 he covered the position of AOCS Engineer for the MIST satellite project founded by KTH space center. From 2021 he covers the position of research assistant at the Space and Plasma Physics department at KTH university. Under the supervision of professor Lorenz Roth he is currently characterizing the Lyman Alpha radiation signal from the Jovian moon Ganymede. During the spring semester 2021 he was awarded an Erasmus exchange scholarship thanks to which he attended advanced classes in Numerical Astrodynamics, Planetary science, Robot Motion Planning, and Robot Dynamics at TuDelft University in Delft, the Netherlands. He is currently taking part in a voluntary internship at Rocket Factory Augsburg, where he covers the position of Guidance Navigation and Control Engineer.
His research interests revolve around space robotics, planetary science, and numerical astrodynamics.