OPTIMAL OPEN-LOOP AND FEEDBACK-CONTROL USING SINGLE GIMBAL CONTROL MOMENT GYROSCOPES

Methods for control of spacecraft maneuvers through the use of single gimbal control moment gyroscopes are developed. The development employ s an integrated model of the spacecraft dynamics with the control mome nt gyroscope dynamics. Smooth and continuous open-loop control profile s are obtained which minimize a weighted function of maneuver time, ma gnitude of control effort, and proximity to singular gimbal configurat ions. Closed-loop state feedback control laws are derived by invoking Lyapunov stability theory. The state feedback controller is developed to execute stable eigenaxis rotations. Two schemes are presented for i mplementing the commanded state feedback: gimbal rate control and gimb al acceleration control. The appropriate handling of singular gimbal c onfigurations is also discussed.