University of Colorado Boulder - Control of Nonlinear Spacecraft Attitude Motion
- Offered byCoursera
Control of Nonlinear Spacecraft Attitude Motion at Coursera Overview
Duration | 31 hours |
Start from | Start Now |
Total fee | Free |
Mode of learning | Online |
Difficulty level | Advanced |
Official Website | Explore Free Course  |
Credential | Certificate |
Control of Nonlinear Spacecraft Attitude Motion at Coursera Highlights
- This Course Plus the Full Specialization.
- Shareable Certificates.
- Graded Programming Assignments.
Control of Nonlinear Spacecraft Attitude Motion at Coursera Course details
- 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
Control of Nonlinear Spacecraft Attitude Motion at Coursera Curriculum
Nonlinear Stability Definitions
Course Introduction
Module 1 Introduction
1: Overview of Nonlinear Control
1.1: Overview Stability Definition Discussion
1.2: Nonlinear Equations Representation
2: Definition: Neighborhood
3: Definitions: Lagrange Stability
4: Definitions: Lyapunov Stability
5: Definitions: Asymptotic Stability
6: Definitions: Global Stability
7: Linearizing a Dynamical System
Optional Review: Stability Definitions
Concept Check 1 - State Vector Representation
Concept Check 2 - State Neighborhood
Concept Check 3 - Lagrange Stability
Concept Check 4 - Lyapunov Stability
Concept Check 5 - Asymptotic Stability
Concept Check 6 - Global Stability Definitions
Concept Check 7 - Linearization
Overview of Lyapunov Stability Theory
Module 2 Introduction
1: Overview of Definite Function
2: Lyapunov Function Definition
2.1: Lyapunov Asymptotic Stability
3: Lyapunov Stability of Linear System
4: Global Stability Applications
Optional Review: Definiteness
Optional Review: Stability Definitions
Optional Review: Lyapunov's Direct Method
5: General Elemental Velocity Lyapunov Function
5.1 Example: Multi-Link System
6: Rigid Body Detumble Control
7: State-Based Lyapunov Functions
Optional Review: Elemental Lyapunov Functions
Concept Check 1 - Definite Function
Concept Check 2 - Lyapunov Functions
Concept Check 3 - Asymptotic Stability
Concept Check 4 - Global Stability Applications
Concept Check 5 - General Elemental Rate
Concept Check 6 - Rigid Body Elemental Rate Lyapunov Function
Concept Check 7 - General Elemental State Lyapunov Function
Attitude Control of States and Rates
Module 3 Introduction
1: Nonlinear Rigid Body State and Rate Control
2: Global Stability of Nonlinear Attitude Control
2.1 Example: Nonlinear Regulation Control
2.2: Asymptotic Stability for Nonlinear Attitude Control
3: Unmodeled Disturbance Torque
4: Nonlinear Integral Control
5: Feedback Gain Selection
Concept Check 1 - General 3-Axis Attitude Control
Concept Check 2 - Asymptotic Stability
Concept Check 3 - Unknown External Torques
Concept Check 4 - Integral Feedback
Concept Check 5 - Feedback Gain Selection
Alternate Attitude Control Formulations
Module 4 Introduction
1: Lyapunov Optimal Control
2: Example: Numerical Control Simulation
2.1: Linear Closed-Loop Dynamics
3: RW Feedback Control Law
Optional Review: Unconstrained Attitude Control
Concept Check 1 - Saturated Control
Concept Check 2 - Linearized Closed Loop Dynamics
Concept Check 3 - RW Feedback Control
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