Robust Nonlinear Control for Slewing Maneuvers of Space Structures Driven by Synchronous Twin-Gyro Precession

The slewing motion control of a truss arm driven by a V-gimbaled control-moment-gyro is a nonlinear control problem. The V-gimbaled control-moment-gyro consists of a pair of gyros that must precess synchronously. Based on the feedback linearization technique, the nonlinear nominal model is partially linearized by specifically choosing two output functions to satisfy the system tracking and synchronization requirements. For the partially linearized system, a robust nonlinear controller is designed by using the recursive Lyapunov design method. The performance of the proposed controller is verified by simulation.