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Control of Nonlinear Spacecraft Attitude Motion

总览授课大纲常见问题解答制作方价格评分和审阅

主页物理科学与工程物理与天文学

Control of Nonlinear Spacecraft Attitude Motion

University of Colorado Boulder

关于此课程: 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

此课程适用人群: This class is for working engineering professionals looking to add to their skill sets, graduate students in engineering looking to fill gaps in their knowledge base, and enterprising engineering undergraduates looking to expand their horizons.


制作方:  University of Colorado Boulder
University of Colorado Boulder

  • Hanspeter Schaub

    教学方:  Hanspeter Schaub, Alfred T. and Betty E. Look Professor of Engineering

    Department of Aerospace Engineering Sciences
级别Advanced
承诺学习时间Best completed in 4 weeks, with a commitment of between 2 and 5 hours of work per week.
语言
English
如何通过通过所有计分作业以完成课程。
用户评分
4.9 星
平均用户评分 4.9查看学生的留言
授课大纲
第 1 周
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.
12 视频
  1. 视频: Course Introduction
  2. 视频: Module 1 Introduction
  3. 视频: 1: Overview of Nonlinear Control
  4. 视频: 1.1: Overview Stability Definition Discussion
  5. 视频: 1.2: Nonlinear Equations Representation
  6. 视频: 2: Definition: Neighborhood
  7. 视频: 3: Definitions: Lagrange Stability
  8. 视频: 4: Definitions: Lyapunov Stability
  9. 视频: 5: Definitions: Asymptotic Stability
  10. 视频: 6: Definitions: Global Stability
  11. 视频: 7: Linearizing a Dynamical System
  12. 视频: Optional Review: Stability Definitions
已评分: Concept Check 1 - State Vector Representation
已评分: Concept Check 2 - State Neighborhood
已评分: Concept Check 3 - Lagrange Stability
已评分: Concept Check 4 - Lyapunov Stability
已评分: Concept Check 5 - Asymptotic Stability
已评分: Concept Check 6 - Global Stability Definitions
已评分: Concept Check 7 - Linearization
第 2 周
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.
14 视频
  1. 视频: Module 2 Introduction
  2. 视频: 1: Overview of Definite Function
  3. 视频: 2: Lyapunov Function Definition
  4. 视频: 2.1: Lyapunov Asymptotic Stability
  5. 视频: 3: Lyapunov Stability of Linear System
  6. 视频: 4: Global Stability Applications
  7. 视频: Optional Review: Definiteness
  8. 视频: Optional Review: Stability Definitions
  9. 视频: Optional Review: Lyapunov's Direct Method
  10. 视频: 5: General Elemental Velocity Lyapunov Function
  11. 视频: 5.1 Example: Multi-Link System
  12. 视频: 6: Rigid Body Detumble Control
  13. 视频: 7: State-Based Lyapunov Functions
  14. 视频: Optional Review: Elemental Lyapunov Functions
已评分: Concept Check 1 - Definite Function
已评分: Concept Check 2 - Lyapunov Functions
已评分: Concept Check 3 - Asymptotic Stability
已评分: Concept Check 4 - Global Stability Applications
已评分: Concept Check 5 - General Elemental Rate
已评分: Concept Check 6 - Rigid Body Elemental Rate Lyapunov Function
已评分: Concept Check 7 - General Elemental State Lyapunov Function
第 3 周
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.
8 视频
  1. 视频: Module 3 Introduction
  2. 视频: 1: Nonlinear Rigid Body State and Rate Control
  3. 视频: 2: Global Stability of Nonlinear Attitude Control
  4. 视频: 2.1 Example: Nonlinear Regulation Control
  5. 视频: 2.2: Asymptotic Stability for Nonlinear Attitude Control
  6. 视频: 3: Unmodeled Disturbance Torque
  7. 视频: 4: Nonlinear Integral Control
  8. 视频: 5: Feedback Gain Selection
已评分: Concept Check 1 - General 3-Axis Attitude Control
已评分: Concept Check 2 - Asymptotic Stability
已评分: Concept Check 3 - Unknown External Torques
已评分: Concept Check 4 - Integral Feedback
已评分: Concept Check 5 - Feedback Gain Selection
第 4 周
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.
6 视频
  1. 视频: Module 4 Introduction
  2. 视频: 1: Lyapunov Optimal Control
  3. 视频: 2: Example: Numerical Control Simulation
  4. 视频: 2.1: Linear Closed-Loop Dynamics
  5. 视频: 3: RW Feedback Control Law
  6. 视频: Optional Review: Unconstrained Attitude Control
已评分: Concept Check 1 - Saturated Control
已评分: Concept Check 2 - Linearized Closed Loop Dynamics
已评分: Concept Check 3 - RW Feedback Control
已评分: Nonlinear Control Final Assignment

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制作方
University of Colorado Boulder
CU-Boulder is a dynamic community of scholars and learners on one of the most spectacular college campuses in the country. As one of 34 U.S. public institutions in the prestigious Association of American Universities (AAU), we have a proud tradition of academic excellence, with five Nobel laureates and more than 50 members of prestigious academic academies.
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评分和审阅
已评分 4.9,总共 5 个 12 评分
Troy Woo

works for me.

Shounak Das

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.

Thank you !

NH

Thank prof. Schaub for very high quality course. By passing this course, I better understand kind of stabilities. This course provides basis technic for defining nonlinear control law base on Lyapunov function. This course also introduces some practical aspects such as: non linear integrator for dealing with dynamics uncertainty, gain tuning and how to dealing with actuator saturation.

Michael Logothetis

Congratulations!!!

An excellent well structured and advanced high level course.

Themes like as General stability, Nonlinear stability, Langradge stability, Lyapunov stability, Asymptotic stability, Neighborhood are defined. Concept such as Lyapunov Stability Theory, Lyapunov functions, general elemental velocity Lyapunov function, Lyapunov attitude control properties, control theory, integral feedback, feedback gain, feedback control laws are analyzed, and compose over all the course "Control of Nonlinear Spacecraft Attitude Motion.



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