Abstract
Advances in microelectronics and small satellite engineering have enabled the development of micro Control Moment Gyros (CMG) for agile spacecraft control. CMGs come with a condition referred to as singularity where for a particular gimbal angle geometric configuration they cannot produce control torque along a certain direction. The paper describes a robust CMG steering logic for CMGs with a mechanical gimbal angle constraint. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc, All rights reserved.