Optimal control for control moment gyros — Center-stable manifold approach

This paper proposes a framework for optimal control of mechanical systems possessing conserved quantities such as control moment gyros (CMGs). It will be shown that output regulation theory is appropriate to handle such constraints and that the center-stable manifold method for solving the associated Hamilton-Jacobi equation is effective for computing the optimal feedback control. With this framework, it is possible to design robust and high performance controller for CMGs. Simulations show the effectiveness of the proposed method.