New Sliding Mode Control Approach for Rapid Attitude Maneuver Using Control Moment Gyros

Abstract

AbstractA single-gimbal control moment gyro (CMG) is considered to be an ideal torque-generating actuator for rapid attitude maneuvering due to its relatively large output torque. A new attitude control method that is based on the modified Rodrigues parameter (MRP) sliding mode control law for a pyramidal configuration using four CMGs is proposed. Robust inverse steering logic is used to avoid issues of the singularity of the CMGs. The proposed approach is expected to provide rapid and stable attitude maneuvering while avoiding the singularity of the CMGs. In addition, this method is demonstrated on a small satellite, named TSUBAME, designed by the Laboratory of Space Systems at the Tokyo Institute of Technology. The proposed control algorithm is verified through a Monte Carlo simulation and a software-in-the-loop attitude simulator for TSUBAME. The Monte Carlo simulation demonstrated that the new sliding mode control approach successfully tracks a time varying attitude for a nanosatellite model with a ra...