Abstract
It is proposed a nonlinear controller based on sliding mode control (SMC) to accomplish the tracking problem of a control moment gyroscope (CMG). This is a challenging task for practical implementation since it is an underactuated mechanical system and also leads to a coupled nonlinear MIMO system that works in a wide range of operation. To avoid a singularity that would arise in the control signal computation, a cascade structure is proposed with two loops: one based on sliding mode control to deal with tracking and uncertainties on some model parameters, and other based on feedback linearization, which is an inner velocity control. Numerical simulations and practical experiments with the real plant are performed to evaluate the proposed controller.
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