Abstract
Gain-scheduled steering control for the adaptive skew pyramid-type control moment gyros (ASCMGs) is proposed. Contrary to past studies that treated the fixed skew angle for pyramid type CMG systems, in the adaptive skew pyramid type CMG system (ASCMGs), the skew angle is treated as a variable to obtain larger torques, compared to the traditional fixed skew angle CMGs. The steering control law proposed for the ASCMGs handles not only gimbal angles but also the skew angle, and consists of off-diagonal singularity robust inverse term and null motion term. The numerical results show that the skew angle has a tendency to change towards the ordinary skew angle in order to maintain the singularity free space as large as possible at the end of maneuver, settling time of the maneuver was shortened, compared to the case of the fixed-skew angle SGCMGs, and that by introducing a weighting function to the element associated with the skew angle in the off-diagonal matrix, the skew angle rate is smoothly controlled to avoid chattering-like motion near singularities and at the end of or after maneuver.
