In the company of the twin-gyro synchronization control, the slewing motion control of a truss arm system, installed with a V-gimbaled control-moment-gyro onboard, is studied. The feedback linearization technique is utilized to partially linearize the nominal model of the nonlinear system. During the linearization, two specific output functions are chosen to satisfy the system tracking and synchronization requirements. The system tracking dynamics are bounded by properly determining control indices and demand signals. The nominally and partially feedback linearized system still contains some linear or nonlinear uncertain terms. We apply the backstepping approach to designing an adaptive nonlinear controller. In the designing procedure, the tuning function design approach is extended to a multiple input case via introducing a correction term in the last backstepping step, such that the dynamic order of the adaptive controller is reduced to its minimum. Performance of the presented controller is verified by simulation results.
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