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다음 전문 분야의 4개 강좌 중 3번째 강좌:

100% 온라인

지금 바로 시작해 나만의 일정에 따라 학습을 진행하세요.

유동적 마감일

일정에 따라 마감일을 재설정합니다.

고급 단계

완료하는 데 약 23시간 필요

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

영어

자막: 영어

다음 전문 분야의 4개 강좌 중 3번째 강좌:

100% 온라인

지금 바로 시작해 나만의 일정에 따라 학습을 진행하세요.

유동적 마감일

일정에 따라 마감일을 재설정합니다.

고급 단계

완료하는 데 약 23시간 필요

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

영어

자막: 영어

강의 계획 - 이 강좌에서 배울 내용

1
완료하는 데 2시간 필요

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 videos (Total 67 min), 7 quizzes
12개의 동영상
Module 1 Introduction1m
1: Overview of Nonlinear Control6m
1.1: Overview Stability Definition Discussion5m
1.2: Nonlinear Equations Representation8m
2: Definition: Neighborhood3m
3: Definitions: Lagrange Stability3m
4: Definitions: Lyapunov Stability5m
5: Definitions: Asymptotic Stability6m
6: Definitions: Global Stability2m
7: Linearizing a Dynamical System6m
Optional Review: Stability Definitions16m
7개 연습문제
Concept Check 1 - State Vector Representation10m
Concept Check 2 - State Neighborhood4m
Concept Check 3 - Lagrange Stability4m
Concept Check 4 - Lyapunov Stability6m
Concept Check 5 - Asymptotic Stability4m
Concept Check 6 - Global Stability Definitions10m
Concept Check 7 - Linearization20m
2
완료하는 데 5시간 필요

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 videos (Total 129 min), 7 quizzes
14개의 동영상
1: Overview of Definite Function15m
2: Lyapunov Function Definition10m
2.1: Lyapunov Asymptotic Stability17m
3: Lyapunov Stability of Linear System4m
4: Global Stability Applications2m
Optional Review: Definiteness7m
Optional Review: Stability Definitions3m
Optional Review: Lyapunov's Direct Method9m
5: General Elemental Velocity Lyapunov Function12m
5.1 Example: Multi-Link System3m
6: Rigid Body Detumble Control20m
7: State-Based Lyapunov Functions14m
Optional Review: Elemental Lyapunov Functions2m
7개 연습문제
Concept Check 1 - Definite Function20m
Concept Check 2 - Lyapunov Functions45m
Concept Check 3 - Asymptotic Stability40m
Concept Check 4 - Global Stability Applications30m
Concept Check 5 - General Elemental Rate5m
Concept Check 6 - Rigid Body Elemental Rate Lyapunov Function8m
Concept Check 7 - General Elemental State Lyapunov Function20m
3
완료하는 데 11시간 필요

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 videos (Total 82 min), 5 quizzes
8개의 동영상
1: Nonlinear Rigid Body State and Rate Control14m
2: Global Stability of Nonlinear Attitude Control8m
2.1 Example: Nonlinear Regulation Control11m
2.2: Asymptotic Stability for Nonlinear Attitude Control5m
3: Unmodeled Disturbance Torque15m
4: Nonlinear Integral Control11m
5: Feedback Gain Selection13m
5개 연습문제
Concept Check 1 - General 3-Axis Attitude Control1시 30분
Concept Check 2 - Asymptotic Stability1시 30분
Concept Check 3 - Unknown External Torques2시 8분
Concept Check 4 - Integral Feedback2시 30분
Concept Check 5 - Feedback Gain Selection2시 30분
4
완료하는 데 10시간 필요

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 videos (Total 97 min), 4 quizzes
6개의 동영상
1: Lyapunov Optimal Control30m
2: Example: Numerical Control Simulation8m
2.1: Linear Closed-Loop Dynamics21m
3: RW Feedback Control Law22m
Optional Review: Unconstrained Attitude Control13m
3개 연습문제
Concept Check 1 - Saturated Control3시 45분
Concept Check 2 - Linearized Closed Loop Dynamics2시 30분
Concept Check 3 - RW Feedback Control20m
4.7
5개의 리뷰Chevron Right

Control of Nonlinear Spacecraft Attitude Motion의 최상위 리뷰

대학: 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 !

강사

Avatar

Hanspeter Schaub

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

콜로라도 대학교 볼더 캠퍼스 정보

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....

Spacecraft Dynamics and Control 전문 분야 정보

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

자주 묻는 질문

  • 강좌에 등록하면 바로 모든 비디오, 테스트 및 프로그래밍 과제(해당하는 경우)에 접근할 수 있습니다. 상호 첨삭 과제는 이 세션이 시작된 경우에만 제출하고 검토할 수 있습니다. 강좌를 구매하지 않고 살펴보기만 하면 특정 과제에 접근하지 못할 수 있습니다.

  • 강좌를 등록하면 전문 분야의 모든 강좌에 접근할 수 있고 강좌를 완료하면 수료증을 취득할 수 있습니다. 전자 수료증이 성취도 페이지에 추가되며 해당 페이지에서 수료증을 인쇄하거나 LinkedIn 프로필에 수료증을 추가할 수 있습니다. 강좌 내용만 읽고 살펴보려면 해당 강좌를 무료로 청강할 수 있습니다.

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