Attitude control of spacecraft by NMPC with consideration of singularity avoidance of CMG

Control moment gyros (CMGs) offer the advantage of being able to generate large torque, therefore; they are commonly used to provide attitude control in heavy satellites and agile attitude control in small spacecrafts. On the other hand, a CMG possesses singularity, owing to which it becomes impossible to generate a desired torque if a CMG reaches singularity. In this paper, we propose a method of attitude control that considers the avoidance of singularity by nonlinear model predictive control (NMPC).