Space
related control research by
Professor Tommy Gravdahl,
Department of Engineering Cybernetics,
NTNU
Ongoing projects:
- Coordinated control of
formation flying spacecraft (Currently 3 PhD-students and 1MSc-students)
- SSETI:
SSETI Express, European Student Earth Orbiter (ESEO) and European Student
Moon Orbiter (ESMO) (Currently 2 students doing their MSc thesis on ESMO).
Students from NTNU together with Students from HiN constitute the Norwegian
SSETI/ESMO-team. Attitude is controlled using thrusters and a reaction wheel.
Previous Projects
- nCube,
nCube II. These student pico-satellites were based on the Cubesat concept,
that is: cube with all sides equal 10cm and total mass less than 1kg. The
satellites are equipped
with torque coils for active control of attitude and a gravity boom for passive
stabilization. Attitude is measured using magnetometer and sun sensor.
PhD students
- Raymond
Kristiansen, Narvik University College. Project:
Coordinated control of spacecraft formations, Supervisor: Ass. Professor P.J.
Nicklasson, Advisor: Ass. Professor Tommy Gravdahl. Defence planned for 2007.
- Thomas
Krogstad, Project: Synchronization of formation-flying spacecraft,
Funded by Strategic University Program of Computational Methods in Nonlinear
Motion Control (CM-iN-MC), Defence
planned for 2008.
- Esten
Grøtli, Project: Hybrid control of formations of mechanical
agents, Funded by Strategic University Program of Computational Methods in
Nonlinear Motion Control (CM-iN-MC),
Defence planned for 2008.
Awards
- Thomas R. Krogstad was
awarded a sponsorship for the paper: Krogstad T.R., J.T. Gravdahl and R. Kristiansen,
"Coordinated control of satellites: the attitude case" by ESA for
the Student Participation
Programme to the International Astronautical Congress 2005 in Fukuoka,
Japan
- Øyvind Hegrenæs
was awarded NFA's (National IFAC Member Organization) prize for best MSc Thesis
within the field of Automatic control in Norway in the year 2004 fot the thesis
entiteled ”Attitude Control by Means of Explicit Model Predictive Control,
via Multi-Parametric Quadratic Programming”.
- K.M. Fauske, Indergaard,
F., and Svartveit, K were awarded with a Honorable Mention and a 2000$ scholarship
in the 11th Annual Frank
J. Redd Student Scholarship Competition for the paper "ncube: The
First Norwegian Student Satellite" presented on the 17th Annual AIAA/USU
Conference on Small
satellites, Logan, Utah, August, 2003. The paper was co-authored with
Riise, Å.-R., Samuelsen, B., Sokolova, N., Cederblad, H., Fasseland,
J., Nordin, C., Otterstad, J., Eriksen, O., Furebotten, P., Sæther,
E., and Eide, E
- Krøvel T.D was awarded the Young Lunar Explorers Award
by the International Lunar Exploration Working Group (ILEWG) for his paper
Krøvel T.D, K. Jerpetjøn and S. Ulrich, "The European Student
Moon Orbiter Project", The 2005 International Lunar Conference on the
Exploration and Utilization of the Moon, September 18-23, 2005.
19 MSc-theses in the period 2002-2005:
Cooperation with: Norwegian Space
Centre, ESA, SSETI and Kongsberg Defence & Aerospace
- Kjetil Jubskås
Olsen: Control of a satellite and optimal use of sensors (In cooperation
with Dr. Åge Skullestad, Kongsberg Defence & Aerospace), 2002
- Bjørn Even
Busterud: Attitude control of micro sattellites
(In cooperation with Dr. Åge Skullestad, Kongsberg Defence & Aerospace)
, 2003
- Geir Ytrehus:
Control of a micro satellite with reaction
wheels in a tetraedron (In cooperation with Dr. Åge Skullestad,
Kongsberg Defence & Aerospace) , 2003
- Fredrik Mietle Indergaard:
Design and implementation of a gravity boom
for the Norwegian nano satellite NCUBE, 2003, Main results of Thesis published
in [1],[2]
- Kristian Svartveit:
Attitude determination for the Norwegian
nano satellite NCUBE, 2003, Main results of Thesis published in [1],[2]
- Kjell Magne Fauske:
Attitude stabilization of an underactuated rigid
spacecraft, 2003, (Supervisor: Professor Kristin Pettersen, Advisor: Jan
Tommy Gravdahl)
- Morten Topland:
Attitude Control for the micro satellite SSETI/ESEO. Cooperation with European
Space Agency (ESA), 2004, Main results of Thesis published in [3],[5]
- Øyvind Hegrenæs:
Attitude Control by means of explicit model
predictive control, via multi-parametric qudratic programming. Cooperation
with European Space Agency (ESA), 2004 Main results of Thesis published in
[3],[6]
- Eli Jerpseth Øverby:
Attitude control for the Norwegian student satellite
nCube Cooperation with the Norwegain Space Centre,
2004, Main results of Thesis published in [4]
- Stian Søndersrød
Ose: Attitude determination for the Norwegian
student satellite nCube. Advisor: Dr. Bjørnar
Vik. Cooperation with the Norwegain Space Centre, 2004, Main results
of Thesis published in [4]
- Ketil Brun: Design
and analysis of magnetic attitude control, Cooperation with the Norwegain
Space Centre, 2005
- Trond Dagfinn Krøvel:
PWPF-modulation of thrusters for the micro satellite
SSETI/ESMO, 2005
- Kristin Johansson:
Orbit control for the microsatellite SSETI/ESMO,
2005
- Thomas Krogstad:
Coordinated control of formations of satellites:
the attitude case, Advisor: Raymond Kristiansen, HiN, 2005 Main results
of Thesis published in [11,13,16,17]
- Svein Tohami El Moussaoui
Brembo: Attitude determination, (In cooperation with Dr. Åge Skullestad,
Kongsberg Defence & Aerospace), 2005
- Bernt Ove Sunde:
Attitude determination for satellites, (In
cooperation with Dr. Åge Skullestad, Kongsberg Defence & Aerospace),
2005, Main results of Thesis published in [19]
- Esten Ingar Grøtli:
Coordinated control of formations of satellites:
the relative position case, (In cooperation with Dr. Åge Skullestad,
Kongsberg Defence & Aerospace), Advisor: Raymond Kristiansen, HiN, 2005,
Main results of Thesis published in [15]
- Tord Håvard Aune:
Coordinated hybrid control of satellite formations, 2006
- Ida Cornelia Wilhelmsen
Wessel: Formation control of spacecraft, 2006
Publications:
- Gravdahl, J.T, E. Eide,
A.Skavhaug, K. Svartveit, K. M. Fauske and F. M. Indergaard, Three axis Attitude
Determination and Control System for a picosatellite: Design and implementation,
Proceedings of the 54th International Astronautical Congress, Bremen, Germany,
2003
- Riise, Å.-R.,
Samuelsen, B., Sokolova, N., Cederblad, H., Fasseland, J., Nordin, C., Otterstad,
J., Fauske, K., Eriksen, O., Indergaard, F., Svartveit, K., Furebotten, P.,
Sæther, E., and Eide, E., “Ncube: The First Norwegian Student Satellite,”
In Proceedings of The 17th AIAA/USU Conference on Small Satellites, Logan,
Utah, August, 2003.
- ESEO-poster on STEC
- Øverby,
E.J., J.T. Gravdahl, S.S. Ose and K.M. Fauske, nCube - Norwegian Student satellite:
Attitude Determination and Control System, poster at the Space Technology
Education Conference, STEC2004, EPF Lausanne, Switzerland, 14-16 April 2004
- Topland, M. and J.T.
Gravdahl, Nonlinear attitude control of the microsatellite ESEO, proceedings
of the 55th International Astronautical Congress, Vancouver, Canada, 2004
- Hegrenæs, Ø.,
J.T. Gravdahl and P. Tøndel, Attitude Control by means of Explicit
Model Predictive Control, via Multi-parametric Quadratic Programming, In proceedings
of the 2005 American Control Conference, Portland Oregon, 2005
- Hegrenæs, Ø.,
J.T. Gravdahl and P. Tøndel, Attitude Control by means of Explicit
Model Predictive Control, via Multi-parametric Quadratic Programming, Automatica,
41(12), pp. 2107-2114, 2005
- J.T. Gravdahl, Magnetic
attitude control for satellites, In proceedings of the 43rd IEEE Conference
on Decition and Control, Paradise Island, Bahamas, 2004
- Kristiansen, R., P.J.
Nicklasson and J. T. Gravdahl, Satellite attitude tracking by quaternion-based
backstepping, In Proc. IFAC World Congress, Prague, Czech Republic, 2005.
- Grøtli E.I. and
J.T. Gravdahl, Coordinated control of satellites: the relative position case,
Space Technology Education Conference, STEC2005, Aalborg, Denmark, 6-8 April
2005
- Krogstad T.R., J.T.
Gravdahl and P. Tøndel, Attitude control and stability analysis of
satellites in earth and moon orbit, Space Technology Education Conference,
STEC2005, Aalborg, Denmark, 6-8 April 2005
- Krøvel, T.D. and
J.T. Gravdahl, Pulse Width-Pulse Frequency Modulation of Thrusters for the
Micro-Satellite SSETI/ESMO, Space Technology Education Conference, STEC2005,
Aalborg, Denmark, 6-8 April 2005
- Krogstad T.R., J.T. Gravdahl
and P. Tøndel, Explicit model predictive control of a satellite with
magnetic torquers, Proceedings of the 13th Mediterranean Conference on Control
and Automation, Limassol, Cyprus, June 27-29, 2005
- Bondhus A.K., K.Y. Pettersen
and J.T Gravdahl, Leader/Follower synchronization of satellite attitude without
angular velocity measurements, in proc. of the 44th IEEE Conference on Decition
and Control, Seville, Spain,
December 2005
- R. Kristiansen, E.I.
Grøtli, P. J. Nicklasson and J.T. Gravdahl, A model of relative position
and attitude in a leader-follower spacecraft formation, proccedings of SIMS2005,
the 46th Scandinavian conference on simulation and modeling, Trondheim, Norway,
October 13-14, 2005
- Krogstad T.R, J.T. Gravdahl
and P. Tøndel Attitude control and stability analysis of satellites
in earth and moon orbit, proceedings of the 56th International Astronautical
Congress, Fukoka, Japan, October 17-21, 2005
- Krogstad T.R., J.T. Gravdahl
and R. Kristiansen, Coordinated control of satellites: the attitude case,
proceedings of the 56th International Astronautical Congress, Fukoka, Japan,
October 17-21, 2005
- Sunde B.O. and J.T. Gravdahl,
Attitude Determination for the student satellite nCubeII: Kalman Filter, proceedings
of the 56th International Astronautical Congress, Fukoka, Japan, October 17-21,
2005
- R. Kristiansen, P.J.Nicklasson,
J.T.Gravdahl, Quaternion-Based Backstepping Control of Relative Attitude in
a Spacecraft Formation, to appear in the proc. of the 45th IEEE CDC, San Diego,
December 2006
- T. Krogstad, J T. Gravdahl,
6-DOF mutual synchronization of formation flying spacecraft, to appear in
the proc. of the 45th IEEE CDC, San Diego, December 2006
- Kristiansen R., P.J.
Nicklasson and J.T. Gravdahl, Satellite Attitude Control by Quaternion-Based
Backstepping, provisionally accepted for publication in IEEE Transactions
on control systems technology, December, 2005
- Kristiansen R., E.I.
Grøtli, P.J. Nicklasson and J.T. Gravdahl, A model of relative position
and attitude in a leader-follower spacecraft formation,
to appear in Modeling, Identification and Control (MIC) , vol. 27, no. 4,
2006
- Pettersen, K.Y.; Gravdahl,
J.T.; Nijmeijer, H.(Eds.), "Group
Coordination and Cooperative Control", Series: Lecture Notes
in Control and Information Sciences, Vol. 336, ISBN: 3-540-33468-8, Springer
Verlag, Heidelberg, 2006
- Krogstad T.R., J.T. Gravdahl,
Synchronization of formation-flying spacecraft, in Pettersen, K.Y.; Gravdahl,
J.T.; Nijmeijer, H. (Eds.), "Group Coordination and Cooperative Control",
Series: Lecture Notes in Control and Information Sciences, Vol. 336, ISBN:
3-540-33468-8, Springer Verlag, Heidelberg, 2006
Other:
- MSc student Trond
Dagfinn Krøvel serves as president of SSETI in 2004/05
- MSc students Svartveit and Indergaard
participated
in the ESA 6th Student
Parabolic Flight Campaign in summer 2003, testing
the gravity boom of the nCube satellite in zero-g.
- Experts in Team, 2002: How to
make a Norwegian micro satellite a success, 32 studens participated in this
multifacultary project
- J.T Gravdahl and 50 students from
the Department of Engineering Cybernetics visited ESAs European Space Research
and Technology Centre (ESTEC) in Noordwijk, the Netherlands for a one day
stay in 2003.
Kennedy Space Center tourist Tommy
Gravdahl in front of an Apollo ADCS computer.
Editor: Tommy Gravdahl, Contact address: Tommy.Gravdahl@
itk.ntnu.no , Updated:
November 20, 2006