Об этом курсе: 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
Для кого этот курс: 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.
Преподаватели: Hanspeter Schaub, Alfred T. and Betty E. Look Professor of Engineering
Department of Aerospace Engineering Sciences
| Уровень | Advanced |
| Выполнение | Best completed in 4 weeks, with a commitment of between 2 and 5 hours of work per week. |
| Язык | English |
| Как пройти курс | Чтобы пройти курс, выполните все оцениваемые задания. |
| Оценки пользователей |
- Видео: Course Introduction
- Видео: Module 1 Introduction
- Видео: 1: Overview of Nonlinear Control
- Видео: 1.1: Overview Stability Definition Discussion
- Видео: 1.2: Nonlinear Equations Representation
- Видео: 2: Definition: Neighborhood
- Видео: 3: Definitions: Lagrange Stability
- Видео: 4: Definitions: Lyapunov Stability
- Видео: 5: Definitions: Asymptotic Stability
- Видео: 6: Definitions: Global Stability
- Видео: 7: Linearizing a Dynamical System
- Видео: Optional Review: Stability Definitions
- Видео: Module 2 Introduction
- Видео: 1: Overview of Definite Function
- Видео: 2: Lyapunov Function Definition
- Видео: 2.1: Lyapunov Asymptotic Stability
- Видео: 3: Lyapunov Stability of Linear System
- Видео: 4: Global Stability Applications
- Видео: Optional Review: Definiteness
- Видео: Optional Review: Stability Definitions
- Видео: Optional Review: Lyapunov's Direct Method
- Видео: 5: General Elemental Velocity Lyapunov Function
- Видео: 5.1 Example: Multi-Link System
- Видео: 6: Rigid Body Detumble Control
- Видео: 7: State-Based Lyapunov Functions
- Видео: Optional Review: Elemental Lyapunov Functions
- Видео: Module 3 Introduction
- Видео: 1: Nonlinear Rigid Body State and Rate Control
- Видео: 2: Global Stability of Nonlinear Attitude Control
- Видео: 2.1 Example: Nonlinear Regulation Control
- Видео: 2.2: Asymptotic Stability for Nonlinear Attitude Control
- Видео: 3: Unmodeled Disturbance Torque
- Видео: 4: Nonlinear Integral Control
- Видео: 5: Feedback Gain Selection
- Видео: Module 4 Introduction
- Видео: 1: Lyapunov Optimal Control
- Видео: 2: Example: Numerical Control Simulation
- Видео: 2.1: Linear Closed-Loop Dynamics
- Видео: 3: RW Feedback Control Law
- Видео: 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.