Title :
Spacecraft attitude control with double-gimbaled control moment gyroscopes
Author :
Zhou, Jingyang ; Zhou, Di
Author_Institution :
Dept. of Control Sci. & Eng., Harbin Inst. of Technol., Harbin
Abstract :
An exact mathematical description of spacecraft attitude motion driven by double-gimbaled control moment gyroscopes(DGCMGs) is proposed. With this mathematical description, a nonlinear control law is designed based on the second method of Lyapunov for spacecraft large angle attitude maneuvers. In the design process, stability of the attitude control system is proved. The singularity robustness (SR) plus null motion steering law is designed to realize the control law by gyroscopes´ precession. Principle of DGCMGs´ singularity is proposed, and singularity analyses of the orthogonally mounted three DGCMGs system and that of the parallel mounted four DGCMGs system are presented. Analysis and simulation results are provided to show the capabilities of large angle and fast attitude maneuver of the orthogonally mounted three DGCMGs system.
Keywords :
Lyapunov methods; attitude control; control system synthesis; nonlinear control systems; Lyapunov method; attitude control system stability; double-gimbaled control moment gyroscopes; nonlinear control law; null motion steering law; singularity robustness; spacecraft attitude control; spacecraft attitude motion; Actuators; Attitude control; Control systems; Equations; Feedback control; Gyroscopes; Motion control; Space vehicles; Torque; Wheels; DGCMG; attitude control; nonlinear control; spacecraft; steering law;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522396
