A new approach to avoid internal singularities in CMG with pyramidal shape using sliding control

This paper explains a new approach to avoid or to pass through singular states in a Control Moment Gyroscope (CMG) with pyramidal shape. It is well known that a CMG cannot produce torque in the singular direction when it enters in a singular state; therefore, the only option to cross the singularity state is to allow differences between the required and the real torque. The proposed scheme developed herein adds a disturbance to the computed torque by the control law, only when the system is near a singular state, at the same time a sliding controller, which deals with perturbations, is used to maintain control over the system. There are two simulations showing different approaches for the torque added by the steering law, being the last one selected due to its better performance.