Nonlinear Controller Design for Tracking Task of a Control Moment Gyroscope Actuator

Author(s)

Toriumi, Fabio Yukio ^[1] ; Angelico, Bruno Augusto ^[1]

Affiliation

^[1] Univ Sao Paulo, Escola Politecn, Dept Telecommun & Control Engn, BR-05508010 Sao Paulo - Brazil

• Document type: Journal article
• Source: IEEE-ASME TRANSACTIONS ON MECHATRONICS; v. 25, n. 1, p. 438-448, FEB 2020.
• Web of Science Citations: 0

Abstract

Control moment gyroscopes (CMG) are widely used as actuators for attitude control of satellites and spacecraft, which requires the controller to fulfill the tracking task of a CMG in a wide operating range, despite its highly coupled nonlinear behavior. A variety of control techniques were proposed for tracking task of the CMG unit, model 750, from Educational Control Products (ECP), but a few accomplished it in a wide operating range, e.g., the linear parameter-varying approach. Another one that may accomplish it is the nonlinear control approach. Therefore, this article proposes a nonlinear controller design based on feedback linearization for the tracking task of the CMG unit in a wide operating range. To cope with a singularity that would appear in the control signal computation, the proposed controller has a cascade structure composed of an outer tracking controller and an inner velocity controller, both based on the input-output linearization approach. The designed controller is validated via numerical simulations and real-time practical experiments. (AU)

• FAPESP's process: 17/22130-4 - Applied Robust Control
• Grantee: Bruno Augusto Angélico
• Support Opportunities: Regular Research Grants