Danilo Guglielmi
Design, optimization and testing of Sliding Mode Controllers for an autonomous lunar nano-drone.
Rel. Carlo Novara, Stefano Moro. Politecnico di Torino, Corso di laurea magistrale in Ingegneria Informatica (Computer Engineering), 2025
Abstract
The LuNaDrone by Evolunar is an autonomous lunar nano-drone with 6 degrees of freedom capable of carrying out specific missions on the lunar soil. Currently, the drone is at an advanced stage of development, with a well-defined physical structure and a working navigation algorithm. The aim of the thesis is to design and test a new controller for the LuNaDrone embedded in a pre-existing simulation environment. In the field of robust control, the Sliding Mode Controller is an excellent strategy in the presence of parametric uncertainties and disturbances. For this reason, the core of the work focuses on the design of SMCs for the LuNaDrone.
In the introductory part of the thesis, the context of the work is outlined, starting with the purpose of the drone's missions: the exploration of the lunar lava tubes, still not in-depth known to the scientific community, or the transport of small payloads
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