Adaptive nonlinear synchronization control of twin-gyro precession

The slewing motion of a truss arm driven by a V-gimbaled control-moment-gyro is studied. The V-gimbaled control-moment-gyro consists of a pair of gyros that must precess synchronously. The feedback linearization technique is utilized to partially linearize the nonlinear nominal model, where two specific output functions are chosen to satisfy the system tracking and synchronization requirements. The system tracking dynamics are bounded by properly determining system indices and command signals. For the partially linearized system, the backstepping tuning function design approach is employed to design an adaptive nonlinear controller. The dynamic order of the adaptive controller is reduced to its minimum. The performance of the proposed controller is verified by simulation.