Adaptive Control of Double-Gimbal Control-Moment Gyro with Unbalanced Rotor

Adouble-gimbalcontrol-momentgyro (CMG)ismodeled usingLagrange’ sequations,and anadaptivefeedback control law is developed to follow a commanded CMG motion. The control law does not require knowledge of the mass properties of the CMG. A Lyapunov argument is used to prove that command following is achieved globally withasymptoticconvergence.Numericalsimulationsareperformed toillustratethecommandfollowing algorithm. A CMGtestbed was designed and constructed to implement and demonstrate the adaptive algorithm. This testbed is described, and experimental results are given.

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