課程信息
4.7
25 個評分
5 個審閱

第 3 門課程(共 4 門)

100% 在線

立即開始,按照自己的計劃學習。

可靈活調整截止日期

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高級

完成時間大約為23 小時

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

英語(English)

字幕:英語(English)

第 3 門課程(共 4 門)

100% 在線

立即開始,按照自己的計劃學習。

可靈活調整截止日期

根據您的日程表重置截止日期。

高級

完成時間大約為23 小時

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

英語(English)

字幕:英語(English)

教學大綱 - 您將從這門課程中學到什麼

1
完成時間為 2 小時

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 個視頻 (總計 67 分鐘), 7 個測驗
12 個視頻
Module 1 Introduction1分鐘
1: Overview of Nonlinear Control6分鐘
1.1: Overview Stability Definition Discussion5分鐘
1.2: Nonlinear Equations Representation8分鐘
2: Definition: Neighborhood3分鐘
3: Definitions: Lagrange Stability3分鐘
4: Definitions: Lyapunov Stability5分鐘
5: Definitions: Asymptotic Stability6分鐘
6: Definitions: Global Stability2分鐘
7: Linearizing a Dynamical System6分鐘
Optional Review: Stability Definitions16分鐘
7 個練習
Concept Check 1 - State Vector Representation10分鐘
Concept Check 2 - State Neighborhood4分鐘
Concept Check 3 - Lagrange Stability4分鐘
Concept Check 4 - Lyapunov Stability6分鐘
Concept Check 5 - Asymptotic Stability4分鐘
Concept Check 6 - Global Stability Definitions10分鐘
Concept Check 7 - Linearization20分鐘
2
完成時間為 5 小時

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 個視頻 (總計 129 分鐘), 7 個測驗
14 個視頻
1: Overview of Definite Function15分鐘
2: Lyapunov Function Definition10分鐘
2.1: Lyapunov Asymptotic Stability17分鐘
3: Lyapunov Stability of Linear System4分鐘
4: Global Stability Applications2分鐘
Optional Review: Definiteness7分鐘
Optional Review: Stability Definitions3分鐘
Optional Review: Lyapunov's Direct Method9分鐘
5: General Elemental Velocity Lyapunov Function12分鐘
5.1 Example: Multi-Link System3分鐘
6: Rigid Body Detumble Control20分鐘
7: State-Based Lyapunov Functions14分鐘
Optional Review: Elemental Lyapunov Functions2分鐘
7 個練習
Concept Check 1 - Definite Function20分鐘
Concept Check 2 - Lyapunov Functions45分鐘
Concept Check 3 - Asymptotic Stability40分鐘
Concept Check 4 - Global Stability Applications30分鐘
Concept Check 5 - General Elemental Rate5分鐘
Concept Check 6 - Rigid Body Elemental Rate Lyapunov Function8分鐘
Concept Check 7 - General Elemental State Lyapunov Function20分鐘
3
完成時間為 5 小時

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 個視頻 (總計 82 分鐘), 5 個測驗
8 個視頻
1: Nonlinear Rigid Body State and Rate Control14分鐘
2: Global Stability of Nonlinear Attitude Control8分鐘
2.1 Example: Nonlinear Regulation Control11分鐘
2.2: Asymptotic Stability for Nonlinear Attitude Control5分鐘
3: Unmodeled Disturbance Torque15分鐘
4: Nonlinear Integral Control11分鐘
5: Feedback Gain Selection13分鐘
5 個練習
Concept Check 1 - General 3-Axis Attitude Control30分鐘
Concept Check 2 - Asymptotic Stability30分鐘
Concept Check 3 - Unknown External Torques8分鐘
Concept Check 4 - Integral Feedback30分鐘
Concept Check 5 - Feedback Gain Selection30分鐘
4
完成時間為 5 小時

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 個視頻 (總計 97 分鐘), 4 個測驗
6 個視頻
1: Lyapunov Optimal Control30分鐘
2: Example: Numerical Control Simulation8分鐘
2.1: Linear Closed-Loop Dynamics21分鐘
3: RW Feedback Control Law22分鐘
Optional Review: Unconstrained Attitude Control13分鐘
3 個練習
Concept Check 1 - Saturated Control45分鐘
Concept Check 2 - Linearized Closed Loop Dynamics30分鐘
Concept Check 3 - RW Feedback Control20分鐘
4.7
5 個審閱Chevron Right

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創建者 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 !

講師

Avatar

Hanspeter Schaub

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

關於 科罗拉多大学波德分校

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....

關於 Spacecraft Dynamics and Control 專項課程

Spacecraft Dynamics and Control covers three core topic areas: the description of the motion and rates of motion of rigid bodies (Kinematics), developing the equations of motion that prediction the movement of rigid bodies taking into account mass, torque, and inertia (Kinetics), and finally non-linear controls to program specific orientations and achieve precise aiming goals in three-dimensional space (Control). The specialization invites learners to develop competency in these three areas through targeted content delivery, continuous concept reinforcement, and project applications. The goal of the specialization is to introduce the theories related to spacecraft dynamics and control. This includes the three-dimensional description of orientation, creating the dynamical rotation models, as well as the feedback control development to achieve desired attitude trajectories....
Spacecraft Dynamics and Control

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