Workshop # 2
This workshop has been cancelled due to low enrollment.
Organizers: Ravi N Banavar and Ramaprakash Bayadi
The workshop will attempt to provide an exposure to the coordinate-free approach to the design of stabilizing controllers for attitude regulation of satellites with both internal and external actuation schemes. The last lecture will also discuss the problem of relative attitude synchronization of a group of satellites. (The workshop will be conducted with a combination of slides and whiteboard presentations.)
Ravi N Banavar
Duration & date
Full-day: June 24, 2014
Lecture 1 (R. N. Banavar): An introduction to smooth manifolds from the perspective of submanifolds of Rn; tangent vectors and tangent bundles, cotangent vectors and cotangent bundles; vector elds, the tangent maps, the cotangent maps. Examples of simple mechanical systems whose conguration spaces are described on smooth manifolds. Interpretations of kinematics and dynamics in the bundle framework.
Lecture 2 (R. Bayadi): An introduction to the Lie group SO(3) and the Lie algebra so(3), and their use in describing rotational kinematics and dynamics ; Hamilton's principle and the Euler equations; the Euler-Poincare equations for rotational rigid body motion.
Lecture 3 (R. N. Banavar): The attitude control problem for satellites and spacecrafts; coordinate-free control laws - both internal and external actuation cases; potential energy and the modied trace functions; linearization on SO(3) and stability analysis.
Lecture 4 (R. Bayadi): , Almost-global asymptotic stability (AGAS); body-based vector observations; angular velocity estimation; synchronization of relative attitudes of two or more satellies.