Constrained singularity avoidance using VSCMGs for combined attitude and power tracking

Variable speed control moment gyroscopes permit advantageous attitude control torque amplification through gimballing, effective actuator singularity avoidance through wheel speed variation, and electrical power tracking through wheel motor/generator energy conversion. For a typical redundant four-actuator pyramid cluster, the attitude and power tracking requirements can be met simultaneously, however, the competing requirements are strained when considering saturation of the key actuator parameters - gimbal angles and wheel speeds. This work evaluates and applies a control strategy to accommodate both gimbal angle and wheel speed saturation control amidst simultaneous attitude and power tracking plus control moment gyroscope singularity avoidance requirements.