Robert Halverson Email & Phone Number

Albuquerque, New Mexico, United States

During the remainder of my Ph.D., my summers are spent with the AFRL Space Vehicles Directorate Space Control Branch, where I work closely with the space situational awareness team to develop advanced capabilities in cislunar space. Currently, I am researching the novel application of robust predictive control techniques for spacecraft trajectory design in the circular restricted 3 body problem. This work aligns with my thesis and overall research interests in that I'm exploring the numerous advantages for using model predictive control in spaceflight applications. I'm excited for what the future holds with regards to collaboration and advancing AFRL's mission.

Minneapolis, Minnesota, United States

My research is aligned with exploring the applications of model predictive control and other novel control techniques to spaceflight applications in complex, uncertain, and/or interplanetary settings. My main, current project is focused on simultaneous system identification and model predictive control for entry, descent, and landing in uncertain environments. This project aims to minimize the landing error for interplanetary EDL missions through real-time data driven modeling and optimal control; robust to atmospheric uncertainties.Other projects include applying model predictive control a magnetically-actuated dual-spin satellite operating in low-Earth orbit, station keeping of satellites in areostationary orbits around Mars, and trajectory design of spacecraft in the Earth-Moon system via predictive control techniques. Selected Conference Publications: - Halverson, Robert D., Gebre-Egziabher, Demoz, and Caverly, Ryan J. "Attitude Control of Dual-Spin Satellites in Low-Earth Orbit via Predictive Control and Magnetic Actuation." AIAA SCITECH 2024 Forum, Submitted- Halverson, Robert D., Cheah, Sze Kwan, and Caverly, Ryan J. "Robust Noncolocated mu-Tip Rate Control of Flexible Robotic Manipulators with Uncertain Dynamics." IEEE CCTA 2023, To Appear- Halverson, Robert D., Weiss, Avishai, and Caverly, Ryan J. "A Comparison of Linear Quadratic and Nonlinear Model Predictive Control Applied to Station Keeping of Satellites in Areostationary Mars Orbits." AIAA SCITECH 2023 Forum

Lafayette, Colorado, United States

Minneapolis, Mn

My research is focused on dynamic modeling and control of aerospace, mechanical, and robotic systems with a specific focus on flexible structures and optimal control of complex spaceflight systems. Recently I've worked to apply modern control techniques formed on the basis of passivity theorems to developed spacecraft simulations. Projects include:- Martian Satellite Areostationary Station Keeping using Model Predictive Control (May 2020 - Present)- Optimal, Robust Synthesis of mu-tip Rate Control (May 2020 - Present)- Spacecraft Flexible Appendage Attitude Control (December 2018 - May 2020)- Small UAV Estimation and Controller Design (June 2019 - December 2019)Conference Publications:- Robert D. Halverson, Avishai Weiss, and Ryan J. Caverly. “Station Keeping of Satellites in Areostationary Mars Orbit using Model Predictive Control” – AAS/AIAA Space Flight Mechanics Meeting, Virtual Conference, Feb 1-4, 2021- Robert D. Halverson and Ryan J. Caverly. “Attitude Control of a Spacecraft Flexible Appendage using Parallel Feedforward Control” – AIAA/AAS Space Flight Mechanics Meeting, AIAA SciTech Forum, Orlando, FL, Jan 6-10, 2020, p.716Presentations:- AAS Space Flight Mechanics Meeting 2021, Virtual (February 2nd, 2021)- AIAA SciTech Forum 2020 Spaceflight Mechanics Meeting, Orlando, FL (January 7th, 2020)- University of Minnesota Undergraduate Research Symposium, Minneapolis, MN (April 17th, 2020)- AIAA Region V Student Paper Conference, Minneapolis, MN (April 5, 2019)

Minneapolis, Mn

- Advised students on career topics utilizing strong written and verbal communication methods.- Managed time and expectations while assisting career center staff with activities and presentations.

- Aided in lesson planning, facilitating weekly class sessions, and grading assignments for a group of 40 first year students, providing guidance in navigating the first-year college experience- Held 1-on-1 meetings with each student to give advice and act as a mentor throughout their first semester