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@PhDThesis{Agostinho:2019:CoMoDe,
               author = "Agostinho, Adriana Cavalcante",
                title = "Controle por modos deslizantes aplicado ao movimento de atitude de 
                         sat{\'e}lites submetidos aos torques perturbadores gerados pelo 
                         movimento de um l{\'{\i}}quido",
               school = "Instituto Nacional de Pesquisas Espaciais (INPE)",
                 year = "2019",
              address = "S{\~a}o Jos{\'e} dos Campos",
                month = "2019-04-24",
             keywords = "Movimento de atitude, sat{\'e}lite, controle por modos 
                         deslizantes, sloshing, motion of attitude, satellite, sliding 
                         modes control, sloshing.",
             abstract = "Controlar a atitude do sat{\'e}lite significa apontar e manter o 
                         apontamento do ve{\'{\i}}culo de acordo com os requisitos 
                         definidos durante uma miss{\~a}o espacial a fun{\c{c}}{\~a}o de 
                         controlar a atitude desse ve{\'{\i}}culo espacial {\'e} 
                         desempenhada, de forma aut{\^o}noma e independente, pelo 
                         Subsistema de Controle de Atitude (SCA). Nesta tese estuda-se a 
                         aplica{\c{c}}{\~a}o de t{\'e}cnica de controle n{\~a}o-linear 
                         ao movimento de atitude do sat{\'e}lite submetido a 
                         perturba{\c{c}}{\~o}es provenientes do movimento do 
                         l{\'{\i}}quido, denominado sloshing, em ambiente de 
                         microgravidade. No espa{\c{c}}o, o sloshing apresenta um 
                         comportamento ca{\'o}tico e o seu efeito na malha de controle 
                         pode ter consequ{\^e}ncias diretas na atitude de um 
                         ve{\'{\i}}culo, gerando incertezas na determina{\c{c}}{\~a}o 
                         da atitude e erros de apontamento capazes de comprometer os 
                         objetivos da miss{\~a}o para o qual foi projetado. A maior 
                         dificuldade envolvendo o estudo sobre sloshing {\'e} definir um 
                         modelo matem{\'a}tico que descreva o seu comportamento em 
                         microgravidade, bem como definir com exatid{\~a}o 
                         par{\^a}metros, que variam com o tempo, como massa do veiculo e 
                         combust{\'{\i}}vel, amortecimento e rigidez. Neste trabalho 
                         estudase a aplica{\c{c}}{\~a}o do Controle por Modos Deslizantes 
                         (SMC) no projeto do SCA de um ve{\'{\i}}culo espacial submetido 
                         {\`a} a{\c{c}}{\~a}o do sloshing. O SMC tem como vantagem sua 
                         relativa simplicidade estrutural, robustez a varia{\c{c}}{\~o}es 
                         nos par{\^a}metros do sistema e baixa sensibilidade a 
                         perturba{\c{c}}{\~o}es externas e incertezas. Visando observar 
                         essas caracter{\'{\i}}sticas dois estudos foram realizados na 
                         primeira etapa. O primeiro estudo comparou o desempenho do SMC ao 
                         cl{\'a}ssico PID, e concluiu-se que ambos apresentavam um 
                         desempenho transit{\'o}rio e estacion{\'a}rio pr{\'o}ximos. No 
                         segundo estudo, incertezas nos atuadores foram consideradas e, 
                         novamente, os controles SMC e PID foram comparados. Concluiu-se 
                         que o SMC apresenta desempenho transit{\'o}rio melhor que o PID. 
                         A segunda etapa do estudo foi considerar perturba{\c{c}}{\~o}es 
                         geradas pelo sloshing com o intuito de verificar a robustez do 
                         SMC. Um sistema mec{\^a}nico an{\'a}logo massa-mola-amortecedor 
                         foi considerado em cada eixo de coordenadas do tanque no 
                         espa{\c{c}}o tridimensional. Tr{\^e}s abordagens foram aplicadas 
                         para se obter o modelo matem{\'a}tico do movimento do 
                         l{\'{\i}}quido: newtoniana, lagrangiana e teoria da colis{\~a}o 
                         entre corpos. O controle SMC foi robusto perante a esse tipo de 
                         perturba{\c{c}}{\~a}o. ABSTRACT: Controlling the attitude of the 
                         satellite means pointing and maintaining the vehicle's pointing 
                         according to the requirements defined during a space mission 
                         design, the function of controlling the attitude is performed, 
                         autonomously and independently, by the Attitude Control Subsystem 
                         (ACS). This thesis studies the non-linear control technique 
                         applied to the attitude movement of the satellite, subjected to 
                         perturbations generated by the movement of the liquid, called 
                         sloshing, inside the fuel tank, in a microgravity environment. In 
                         space, sloshing has a chaotic movement and its effect on the 
                         control system can have direct consequences on the attitude of a 
                         vehicle, generating uncertainties in attitude determination and 
                         pointing errors capable of compromising the mission objectives for 
                         which it was designed. The major difficulty with the sloshing 
                         study is to define a mathematical model that describes its 
                         behavior in microgravity, as well as accurately define parameters, 
                         which vary with time, such as mass of the vehicle and fuel, 
                         damping and stiffness. In this thesis the application of the 
                         Sliding Mode Control (SMC) in the ACS project of a space vehicle, 
                         subjected to sloshing action, is studied. The advantage of SMC is 
                         its relative structural simplicity, robustness to variations in 
                         system parameters and low sensitivity to external disturbances and 
                         uncertainties. In order to observe these characteristics two 
                         studies were carried out in the first stage. The first study 
                         compared the performance of the SMC with the classic PID, it was 
                         concluded that both had a transient and stationary performance 
                         nearby. In the second study, uncertainties in the actuators were 
                         considered and again the SMC and PID controls were compared. It 
                         was conclude that the SMC presents transient performance better 
                         than the PID. In a second stage, a study was carried out with the 
                         purpose of verifying the robustness of the SMC with sloshing 
                         disturbances. A mechanical analog system mass-spring-damper was 
                         considered coupled to each coordinate axis of the tank in 
                         three-dimensional space. Three approaches were applied to obtain 
                         the mathematical model of liquid movement: Newtonian, Lagrangian 
                         and collision theory between bodies. SMC control was robust due to 
                         the presence of this type of disturbance.",
            committee = "Carvalho, Francisco das Chagas (presidente) and Rocco, Evandro 
                         Marconi (orientador) and Santos, Willer Gomes dos and Souza, Alain 
                         Giacobini de and Costa Filho, Aguinaldo Cardozo da",
         englishtitle = "Sliding Mode Control (SMC) applied to attitude motion of a 
                         satellite submitted to disturbing torques generated by the 
                         movement of a liquid",
             language = "pt",
                pages = "199",
                  ibi = "8JMKD3MGP3W34R/3T633UL",
                  url = "http://urlib.net/rep/8JMKD3MGP3W34R/3T633UL",
           targetfile = "publicacao.pdf",
        urlaccessdate = "01 dez. 2020"
}


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