Abstract
An exact approach for gimbal steering based on generalised-inverse for a cluster of Control Moment Gyros (CMG) is presented, iteedback gains are calculated from analytical solutions of simplified model for desired closed-loop attitude dynamics of a satellite and corresponding angular momentum response of CMGs. It is highly desirable to be able to use full angular momentum workspace of CMG cluster for rapid slew manoeuvres. However, the troublesome internal elliptic singularities restrict the angular momentum workspace in most of the pseudo-inverse-based steering logics. Therefore, we propose a Generalised Inverse Steering Logic (GISL) different from Moore-Penrose inverse but exact unlike variants of Singularity Robust laws. The proposed method gives exact control while avoiding internal elliptic singularities and using full momentum capability of the CMG cluster. The important features of the proposed steering law are demonstrated by performing simulations. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.