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.
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 |
- 视频: Course Introduction
- 视频: Module 1 Introduction
- 视频: 1: Overview of Nonlinear Control
- 视频: 1.1: Overview Stability Definition Discussion
- 视频: 1.2: Nonlinear Equations Representation
- 视频: 2: Definition: Neighborhood
- 视频: 3: Definitions: Lagrange Stability
- 视频: 4: Definitions: Lyapunov Stability
- 视频: 5: Definitions: Asymptotic Stability
- 视频: 6: Definitions: Global Stability
- 视频: 7: Linearizing a Dynamical System
- 视频: Optional Review: Stability Definitions
- 视频: Module 2 Introduction
- 视频: 1: Overview of Definite Function
- 视频: 2: Lyapunov Function Definition
- 视频: 2.1: Lyapunov Asymptotic Stability
- 视频: 3: Lyapunov Stability of Linear System
- 视频: 4: Global Stability Applications
- 视频: Optional Review: Definiteness
- 视频: Optional Review: Stability Definitions
- 视频: Optional Review: Lyapunov's Direct Method
- 视频: 5: General Elemental Velocity Lyapunov Function
- 视频: 5.1 Example: Multi-Link System
- 视频: 6: Rigid Body Detumble Control
- 视频: 7: State-Based Lyapunov Functions
- 视频: Optional Review: Elemental Lyapunov Functions
- 视频: Module 3 Introduction
- 视频: 1: Nonlinear Rigid Body State and Rate Control
- 视频: 2: Global Stability of Nonlinear Attitude Control
- 视频: 2.1 Example: Nonlinear Regulation Control
- 视频: 2.2: Asymptotic Stability for Nonlinear Attitude Control
- 视频: 3: Unmodeled Disturbance Torque
- 视频: 4: Nonlinear Integral Control
- 视频: 5: Feedback Gain Selection
- 视频: Module 4 Introduction
- 视频: 1: Lyapunov Optimal Control
- 视频: 2: Example: Numerical Control Simulation
- 视频: 2.1: Linear Closed-Loop Dynamics
- 视频: 3: RW Feedback Control Law
- 视频: Optional Review: Unconstrained Attitude Control
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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 !
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.
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.
works for me.