Review Topics

1.Vectors and Matrices

2.Vector and Matrix Algebra
3.Multivariable Taylor series
 Vector Algebra(1)
B
Row vector: A = 1 2 3, dimension (1 x 3)
1
   A
Column vector: B =  0  , dimension (3 x 1)
  B cos
 
1
Dot product (Projection, scalar answer)
Product of the magnitude of A with the projection of B along A.
Product of the magnitude of B with the projection of A along B.
A  B = A B cos = B A cos = AB  BT AT 
 Vector Algebra(2)
Cross product
 x1   u1 
    w is perpendicular to both x and u.
x   x2  ; u  u2 
   
x  u 
 3  3
w  xu  xu 
Method 1 (determinant)
i j k
x1 x2 x3 
u1 u2 u3
Method 2 (cross product matrix, skew symmetric)
 0 x3 x2   u1 
  
 x3 0 x1  u2   xu 
  
x
 2 x1 0   u3 
 Matrices
Rectangular Matrix
1 2 
 1 4 5 T  
A=   ; A =  4 1 ; Dimension of A is (2x3)
 2 1 1  
5 1 
 
Square Matrix
15 12  15 12
A   ;det( A)   81
 3 3 3 3

1 1 3 12
A   
81 3 15 

Trace( A)   A(i, i ) 12 Trace of a square matrix = sum of diagonal entries

 Matrices(2)
Orthogonal Matix (rows and columns mutually orthogonal)

1 3
A  ;
3 1 

Orthonormal Matrices
(orthogonal with unit vectors for rows and columns)
 cos  sin   1
T= , T TT
 sin  cos  
cos   sin  0
  1

T  sin  cos  0 , T  T T
 
 0 0
 1
 Matrix Algebra(1)
Matrix multiplication (note the matrix dimensions)
 1 1
 1 4 5   15 12 
A=    
, B  1 2 ; (A B)    , dimension: (2 x 3) x (3 x 2) = (2 x 2)
 
 2 1 1 2 1   3 3
 
Inner (dot) product Outer product:
 x1   u1  xuT 
    T
x   x2  , u  u2  ; x u 
   
x  u 
 3  3

 1 2
T
   u1 
 
Determine x Au for A= 0 1 , u   
  u2 
 1 0  
 
 Matrix Algebra(2)
Solve the linear algebra problem: Ax  B
Determinant and Inverse of a 2x2 matrix
Solve for the vector x :
15 12  1
 x 
 3 3 1
 Matrix Algebra(3)
Cramer's Rule (Appendix D of the text)
 x1 
   u1 
 
Ax  Bu; x  x2 ; u   
  u2 
x   
 3
1 4 0   1 0
   
 
A= 2 1 1 ; B  0 1  
   
0 5 0   1 1
   
x
Determine the ratio 1 .
u2
 Applications
Thrust forces and moments acting on a spacecraft (6 thrusters)
Each thruster produces F units of thrust.
Thruster Table
Thruster
# Thruster Location (units) Thrust Direction
x y z x y z
1 2 -8 -8 -1 0 0
2 -8 -2 -8 0 1 0
3 8 -8 -2 0 0 1
4 8 2 8 0 -1 0
5 -8 8 2 0 0 -1
6 -2 8 8 1 0 0

Determine the net force and torque if thrusters 1 and 5 are fired simultaneously.
Write a matrix relationship of the form Ax =b, A(6 6), x(61), b(61)
 Force (31) 
x  Thruster on-off vector (filled with 0 or F); b   
Torque (31)
 Applications
Thruster
# Thruster Location (units) Thrust Direction
x y z x y z
1 2 -8 -8 -1 0 0
2 -8 -2 -8 0 1 0
3 8 -8 -2 0 0 1
4 8 2 8 0 -1 0
5 -8 8 2 0 0 -1
6 -2 8 8 1 0 0
 Taylor Series (Linearization)

Expand the functions by Taylor series about reference values: X 0 and Y0

X X  X 0 + x and Y  Y0  y
f ( X , Y ) = Xe + sin Y − 1
π x and y are small deviations.
3
g ( X , Y ) = YX sin X − Y +
2
 Taylor Series (Linearization)
X = Xe X + sin Y − 1 X 0 = X 0 e X 0 + sin Y0 − 1
π π
Y = YX 3 sin X − Y + Y0 = Y0 X 03 sin X 0 − Y0 +
2 2

Write the differential equation(s) for departure motion from a particular reference

trajectory: X 0 (t )  0 and Y0 (t )  .
2
Perturbations : x(t ) and y (t )
X (t )  X 0 (t )  x(t ) and Y (t ) = Y0 (t )  y (t )

Describe the motion for i ) x(0)  0 , y (0)  0

ii ) x(0)  0 , y (0)  0