Singularity Avoidance Algorithms for Spacecraft Attitude Control using Single Gimbal Control Moment Gyroscopes
Abstract
Single gimbal control moment gyroscopes are attractive actuators for spacecraft attitude control systems. However, intrinsic kinematic singularities preclude torque generation along certain directions and lead to loss of three-axis control of the spacecraft. Kinematic singularities also exist in robotic manipulator systems which are mechanical analogs of the single gimbal control moment gyroscope systems. In robotic manipulator systems, kinematic singularities preclude end-effector motions in singular directions. An algorithm is proposed to avoid singularities in control moment gyroscope systems. The proposed algorithm is based on the extended Jacobian, used to solve singularity avoidance problem in the robotic manipulator system, and the null motion avoidance algorithms. The current algorithm has been shown to avoid internal kinematic singularities when applied to spacecraft maneuver problems. Feedback torque requests are generated using control laws based on the Liapunov's stability theory.
Description
Program year: 1990/1991Digitized from print original stored in HDR
Subject
spacecraft attitude control systemskinematic singularities
control moment gyroscope systems
extended Jacobian
null motion avoidance algorithms
Liapunov's stability theory
Citation
Budiman, Benny Susanto (1991). Singularity Avoidance Algorithms for Spacecraft Attitude Control using Single Gimbal Control Moment Gyroscopes. University Undergraduate Fellow. Available electronically from https : / /hdl .handle .net /1969 .1 /CAPSTONE -TsaiN _1990.