Feedback control and steering laws for spacecraft using single gimbal control moment gyros Academic Article uri icon


  • The dynamic equations for large-angle rotational motion of spacecraft equipped with Single Gimbal Control Moment Gyros are derived using the Newton-Euler approach. These equations include rotor transverse inertia and gimbal inertia of the control moment gyros as well as the specific location and nominal orientation of each gyro. Feedback control laws are developed by using Lyapunov stability theory which guarantee global asymptotic stability of the closed-loop system. The torque demanded by the feedback control laws is obtained by using gimbal rate steering laws developed in the literature. A gimbal acceleration steering law is also developed by including the gimbal and rotor transverse inertia terms. The feedback control laws in combination with either rate or acceleration steering laws are shown to work well even in the presence of singularities. The acceleration steering law provides reliable and useful data regarding gimbal torques. It is also observed that for a given maneuver, there exist preferred sets of initial gimbal angles which can aid in avoiding singularities.

author list (cited authors)

  • VADALI, S.

citation count

  • 15

publication date

  • August 1989