课程信息
4.9
21 ratings
4 reviews
This course trains you in the skills needed to program specific orientation and achieve precise aiming goals for spacecraft moving through three dimensional space. First, we cover stability definitions of nonlinear dynamical systems, covering the difference between local and global stability. We then analyze and apply Lyapunov's Direct Method to prove these stability properties, and develop a nonlinear 3-axis attitude pointing control law using Lyapunov theory. Finally, we look at alternate feedback control laws and closed loop dynamics. After this course, you will be able to... * Differentiate between a range of nonlinear stability concepts * Apply Lyapunov’s direct method to argue stability and convergence on a range of dynamical systems * Develop rate and attitude error measures for a 3-axis attitude control using Lyapunov theory * Analyze rigid body control convergence with unmodeled torque...
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Advanced Level

高级

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建议:Best completed in 4 weeks, with a commitment of between 2 and 5 hours of work per week.

完成时间大约为22 小时
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Globe

100% 在线课程

立即开始,按照自己的计划学习。
Calendar

可灵活调整截止日期

根据您的日程表重置截止日期。
Advanced Level

高级

Clock

建议:Best completed in 4 weeks, with a commitment of between 2 and 5 hours of work per week.

完成时间大约为22 小时
Comment Dots

English

字幕:English

教学大纲 - 您将从这门课程中学到什么

1

章节
Clock
完成时间为 2 小时

Nonlinear Stability Definitions

Discusses stability definitions of nonlinear dynamical systems, and compares to the classical linear stability definitions. The difference between local and global stability is covered. ...
Reading
12 个视频(共 67 分钟), 7 个测验
Video12 个视频
Module 1 Introduction1分钟
1: Overview of Nonlinear Control6分钟
1.1: Overview Stability Definition Discussion5分钟
1.2: Nonlinear Equations Representation8分钟
2: Definition: Neighborhood3分钟
3: Definitions: Lagrange Stability3分钟
4: Definitions: Lyapunov Stability5分钟
5: Definitions: Asymptotic Stability6分钟
6: Definitions: Global Stability2分钟
7: Linearizing a Dynamical System6分钟
Optional Review: Stability Definitions16分钟
Quiz7 个练习
Concept Check 1 - State Vector Representation10分钟
Concept Check 2 - State Neighborhood4分钟
Concept Check 3 - Lagrange Stability4分钟
Concept Check 4 - Lyapunov Stability6分钟
Concept Check 5 - Asymptotic Stability4分钟
Concept Check 6 - Global Stability Definitions10分钟
Concept Check 7 - Linearization6分钟

2

章节
Clock
完成时间为 3 小时

Overview of Lyapunov Stability Theory

Lyapunov's direct method is employed to prove these stability properties for a nonlinear system and prove stability and convergence. The possible function definiteness is introduced which forms the building block of Lyapunov's direct method. Convenient prototype Lyapunov candidate functions are presented for rate- and state-error measures....
Reading
14 个视频(共 129 分钟), 7 个测验
Video14 个视频
1: Overview of Definite Function15分钟
2: Lyapunov Function Definition10分钟
2.1: Lyapunov Asymptotic Stability17分钟
3: Lyapunov Stability of Linear System4分钟
4: Global Stability Applications2分钟
Optional Review: Definiteness7分钟
Optional Review: Stability Definitions3分钟
Optional Review: Lyapunov's Direct Method9分钟
5: General Elemental Velocity Lyapunov Function12分钟
5.1 Example: Multi-Link System3分钟
6: Rigid Body Detumble Control20分钟
7: State-Based Lyapunov Functions14分钟
Optional Review: Elemental Lyapunov Functions2分钟
Quiz7 个练习
Concept Check 1 - Definite Function16分钟
Concept Check 2 - Lyapunov Functions22分钟
Concept Check 3 - Asymptotic Stability14分钟
Concept Check 4 - Global Stability Applications14分钟
Concept Check 5 - General Elemental Rate2分钟
Concept Check 6 - Rigid Body Elemental Rate Lyapunov Function8分钟
Concept Check 7 - General Elemental State Lyapunov Function4分钟

3

章节
Clock
完成时间为 2 小时

Attitude Control of States and Rates

A nonlinear 3-axis attitude pointing control law is developed and its stability is analyized using Lyapunov theory. Convergence is discussed considering both modeled and unmodeled torques. The control gain selection is presented using the convenient linearized closed loop dynamics....
Reading
8 个视频(共 82 分钟), 5 个测验
Video8 个视频
1: Nonlinear Rigid Body State and Rate Control14分钟
2: Global Stability of Nonlinear Attitude Control8分钟
2.1 Example: Nonlinear Regulation Control11分钟
2.2: Asymptotic Stability for Nonlinear Attitude Control5分钟
3: Unmodeled Disturbance Torque15分钟
4: Nonlinear Integral Control11分钟
5: Feedback Gain Selection13分钟
Quiz5 个练习
Concept Check 1 - General 3-Axis Attitude Control10分钟
Concept Check 2 - Asymptotic Stability14分钟
Concept Check 3 - Unknown External Torques8分钟
Concept Check 4 - Integral Feedback8分钟
Concept Check 5 - Feedback Gain Selection6分钟

4

章节
Clock
完成时间为 4 小时

Alternate Attitude Control Formulations

Alternate feedback control laws are formulated where actuator saturation is considered. Further, a control law is presented that perfectly linearizes the closed loop dynamics in terms of quaternions and MRPs. Finally, the 3-axis Lyapunov attitude control is developed for a spacecraft with a cluster of N reaction wheel control devices....
Reading
6 个视频(共 97 分钟), 4 个测验
Video6 个视频
1: Lyapunov Optimal Control30分钟
2: Example: Numerical Control Simulation8分钟
2.1: Linear Closed-Loop Dynamics21分钟
3: RW Feedback Control Law22分钟
Optional Review: Unconstrained Attitude Control13分钟
Quiz3 个练习
Concept Check 1 - Saturated Control16分钟
Concept Check 2 - Linearized Closed Loop Dynamics6分钟
Concept Check 3 - RW Feedback Control6分钟
4.9

热门审阅

创建者 SDFeb 4th 2018

Excellent teaching from Professor Schaub ! Course has been very well organised and touches on the important aspects of nonlinear control. Looking forward to more courses from you.\n\nThank you !

讲师

Hanspeter Schaub

Glenn L. Murphy Chair of Engineering, Professor
Department of Aerospace Engineering Sciences

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