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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/nonlinear-spacecraft-attitude-control
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课程名称：非线性航天器姿态运动控制 概述：本课程旨在培训学员掌握航天器在三维空间中编程实现特定定向和精准瞄准目标的技能。课程首先涵盖非线性动力系统的稳定性定义，比较局部稳定性和全局稳定性的差异。接着，分析并应用李雅普诺夫直接法来证明这些稳定性特性，并利用李雅普诺夫理论开发非线性三轴姿态指向控制律。最后，探讨替代反馈控制律和闭环动态。 完成本课程后，您将能够： * 区分一系列非线性稳定性概念 * 应用李雅普诺夫直接法论证一系列动力系统的稳定性和收敛性 * 利用李雅普诺夫理论开发三轴姿态控制的速率和姿态误差测量 * 分析具有未建模扭矩的刚体控制收敛性 课程大纲： 1. 非线性稳定性定义 - 描述：讨论非线性动力系统的稳定性定义，并与经典线性稳定性定义进行比较，涵盖局部稳定性和全局稳定性之间的区别。 2. 李雅普诺夫稳定性理论概述 - 描述：使用李雅普诺夫直接法证明非线性系统的稳定性和收敛性，介绍可能的函数正定性，这是李雅普诺夫直接法的基础。为速率和状态误差测量提供便利的原型李雅普诺夫候选函数。 3. 状态和速率的姿态控制 - 描述：开发非线性三轴姿态指向控制律，并利用李雅普诺夫理论分析其稳定性。考虑建模和未建模扭矩讨论收敛性，使用便利的线性化闭环动态展示控制增益选择。 4. 替代姿态控制公式 - 描述：制定替代反馈控制律，考虑执行器饱和。此外，提出一种在四元数和主旋转参数下完美线性化闭环动态的控制律。最后，针对具有N个反作用轮控制装置的航天器开发三轴李雅普诺夫姿态控制。
Name:Nonlinear Stability Definitions
Description:Discusses stability definitions of nonlinear dynamical systems, and compares to the classical linear stability definitions. The difference between local and global stability is covered.
Name:Overview of Lyapunov Stability Theory
Description: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.
Name:Attitude Control of States and Rates
Description: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.
Name:Alternate Attitude Control Formulations
Description: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.
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
