Abstract
Gain-scheduled steering control for variable-speed control moment gyros (CMGs) is proposed. Contrary to past studies that used the reaction wheel (RW) mode for singularity avoidance, in this study, the RW mode is utilized to realize precise attitude stabilization at the end of a maneuver. The steering control law proposed in this paper consists of a generalized singular robust control term and a null motion term. In past studies, gradientbased null motion was employed to keep the condition number of the Jacobian for the CMG mode as small as possible, which was intended to increase the CMG mode availability as much as possible. In this paper, gradient-based null motion is employed so that the CMG gimbal angles change to angles at which the RW mode is effectively available for precise attitude stabilization to the target attitude at the end of a maneuver. The numerical results show that the steering mode is smoothly switched from the CMG mode to the RW mode, transiting the variable-speed CMG (VSCMG) mode.
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