Singularity avoidance control laws for a multiple CMG spacecraft attitude control system

This paper discusses the development of a single-gimbal control moment gyro (SGCMG) singularity avoidance steering law based on previous work involving CMG "preferred" angles. An algorithm which attempts to converge dynamically to "prefered set" is presented. Some of the problems encountered with previous algorithms, such as local extrema in CMG gain calculations and lower allowable torque bounds required by some algorithms to successfully avoid singularities are not apparent in the proposed method. Simulation results are included.