Exact CMG Steering Laws which Reset Gimbal Angles

A Giffen, P L Palmer & Mark Roberts

Control moment gyroscope (CMG) steering laws, including those that use the Moore-Penrose pseudoinverse, typically do not return the CMG gimbal angles to their initial values at the end of a manoeuvre. This paper shows that this is due, in part, to the manner in which the manoeuvre interacts with the singularities of the system. It describes these singularities and defi nes a class of integrable exact generalized steering laws which do reset the gimbal angles for manoeuvres which do not pass through singularities or loop in a homotopically non-trivial way around lines of cusp singularities.

Paper: Exact CMG Steering Laws which Reset Gimbal Angles

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