Control moment gyroscope
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Design and Evaluation of a Balance Assistance Control Moment Gyroscope Open
We recently proposed the theoretical idea of a wearable balancing aid, consisting of a set of control moment gyroscopes (CMGs) contained into a backpacklike orthopedic corset. Even though similar solutions have been reported in the literat…
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Anti-Disturbance Control Based on Cascade ESO and Sliding Mode Control for Gimbal System of Double Gimbal CMG Open
Disturbance torque and unmodeled dynamics are the main important factors which affect the angular velocity precision of a gimbal system in double gimbal control moment gyro (DGCMG). In this paper, a compound control method combining reduce…
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Haptic orientation guidance using two parallel double-gimbal control moment gyroscopes Open
This paper presents a system of two double-gimbal control moment gyroscopes (CMGs) for providing ungrounded kinesthetic haptic feedback. By spinning a second flywheel opposite the first, and rotating them through opposite trajectories, und…
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An Automatic Bearing Fault Diagnosis Method Based on Characteristics Frequency Ratio Open
Bearing is a key component of satellite inertia actuators such as moment wheel assemblies (MWAs) and control moment gyros (CMGs), and its operating state is directly related to the performance and service life of satellites. However, becau…
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Singularity Penetration with Unit Delay (SPUD) Open
This manuscript reveals both the full experimental and methodical details of a most-recent patent that demonstrates a much-desired goal of rotational maneuvers via angular exchange momentum, namely extremely high torque without mathematica…
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Directional Singularity Escape and Avoidance for Single-Gimbal Control Moment Gyroscopes Open
Despite the long history of studies on the singularity problem inherent to single-gimbal control moment gyroscopes, few existing gimbal steering laws can both accurately track moments and escape or avoid every type of singularity. The most…
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Frequency Response Data-Based LPV Controller Synthesis Applied to a Control Moment Gyroscope Open
Control of systems with operating condition-dependent dynamics, including control moment gyroscopes (CMGs), often requires operating condition-dependent controllers to achieve high control performance. The aim of this brief is to develop a…
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A mathematical model for motions of gyroscope suspended from flexible cord Open
Gyroscope devices are primary units for navigation and control systems in aviation and space engineering. The main property of the gyroscope is maintaining the axis of a spinning rotor, based on the principles of the angular momentum of th…
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High-Precision Anti-Disturbance Gimbal Servo Control for Control Moment Gyroscopes via an Extended Harmonic Disturbance Observer Open
In control moment gyroscopes (CMGs), the gimbal is expected to rotate at a low speed with high precision so that high-precision gyroscopic torque can be generated to realize high-precision spacecraft attitude control. However, there are co…
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Data-Driven quasi-LPV Model Predictive Control Using Koopman Operator Techniques Open
A fast data-driven extension of the velocity-based quasi-linear parameter-varying model predictive control (qLMPC) approach is proposed for scenarios where first principles models are not available or are computationally too expensive. We …
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Modeling and Experimental Study on the Micro-Vibration Transmission of a Control Moment Gyro Open
A control moment gyro (CMG) is the main source of vibration disturbance in the spacecraft. This paper presents a vibration mathematical model with 18 degrees of freedom by Lagrange energy method, for solving the problem that the transmissi…
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Data-Driven Fault Diagnosis for Satellite Control Moment Gyro Assembly with Multiple In-Phase Faults Open
A satellite can only complete its mission successfully when all its subsystems, including the attitude control subsystem, are in healthy condition and work properly. Control moment gyroscope is a type of actuator used in the attitude contr…
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Coupled Dynamic Modeling and Analysis of the Single Gimbal Control Moment Gyroscope Driven by Ultrasonic Motor Open
A control moment gyroscope (CMG) is a key actuator for spacecraft's attitude and stability control. But there exist micro-vibrations from high-speed flywheel, which will affect the performance of the spacecraft greatly. Due to the unbalanc…
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Adaptive Digital PID Control of a Quadcopter with Unknown Dynamics Open
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward controllers are replaced by adaptive control laws based on retrosp…
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High precision attitude dynamic tracking control of a moving space target Open
On-orbit spacecraft face many threats, such as collisions with debris or other spacecraft. Therefore, perception of the surrounding space environment is vitally important for on-orbit spacecraft. Spacecraft require a dynamic attitude track…
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A Machine Learning Approach for Global Steering Control Moment Gyroscope Clusters Open
This paper addresses the problem of singularity avoidance for a 4-Control Moment Gyroscope (CMG) pyramid cluster, as used for the attitude control of a satellite using machine learning (ML) techniques. A data-set, generated using a heurist…
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Singularity analysis for single gimbal control moment gyroscope system using space expansion method Open
Control Moment Gyroscope (CMG) is an effective candidate for agile satellites and large spacecraft attitude control because of its powerful torque amplification capability. The most serious situation, however, in using CMG is the inherent …
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High-Precision Speed Control Based on Multiple Phase-Shift Resonant Controllers for Gimbal System in MSCMG Open
The high precision speed control of gimbal servo system in magnetically suspended control moment gyro (MSCMG) suffers from periodic torque disturbances, which lead to periodic fluctuations in speed control. This paper proposes a novel mult…
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Underactuated Spacecraft Switching Law for Two Reaction Wheels and Constant Angular Momentum Open
This paper develops a switching feedback controller for the attitude of an underactuated spacecraft that exploits two internal control torques provided by reaction wheels. The problem is challenging; for example, even in the zero total ang…
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Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction Open
A quaternion-based nonlinear control strategy is here presented to steer and keep a generic multi-rotor platform in a given reference position. Exploiting a state feedback structure, the proposed solution ensures the stabilization of the a…
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Model predictive steering control law for double gimbal scissored-pair control moment gyros Open
To overcome the singularity problem of control moment gyros (CMGs) and simultaneously provide a lightweight, agile, and simple dynamical system, a CMG system called a double-gimbal scissored-pair control moment gyro (DGSPCMG) was recently …
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Experimental Comparison of Velocity Observers: A Scissored Pair Control Moment Gyroscope Case Study Open
We consider scissored pair gyroscopes as an auxiliary stabilization system for legged robots. A standard state-feedback control can stabilize the system if all states are available; thus, the velocity estimation becomes the key element for…
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Plate-Like Flexible Spacecraft Modeling and Distribution of Control Moment Gyroscopes Open
This study investigates the optimization configuration problem of control moment gyroscopes for flexible vibration suppression of large space structures. First, the structural dynamic model of an unconstrained plate-like flexible spacecraf…
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Decoupling Control of Micromachined Spinning-Rotor Gyroscope with Electrostatic Suspension Open
A micromachined gyroscope in which a high-speed spinning rotor is suspended electrostatically in a vacuum cavity usually functions as a dual-axis angular rate sensor. An inherent coupling error between the two sensing axes exists owing to …
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Indirect Measurement of Rotor Dynamic Imbalance for Control Moment Gyroscopes via Gimbal Disturbance Observer Open
The high-precision speed control of gimbal servo systems is the key to generating high-precision torque for control moment gyroscopes (CMGs) in spacecrafts. However, the control performance of gimbal servo systems may be degraded significa…
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Design Concept and Development of a New Spherical Attitude Stabilizer for Small Satellites Open
This paper presents the description, design concept, and dynamics of a new control moment gyroscope with a spherical rotor, referred to here as a spherical stabilizer. This stabilizer can be used as an alternative low-weight and high-preci…
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Cooperative Game Theory-Based Optimal Angular Momentum Management of Hybrid Attitude Control Actuator Open
The next-generation space missions, such as the space moving target tracking mission and the agile attitude maneuvering mission and so on, propose a high requirement on spacecraft attitude control system. For such missions, hybrid attitude…
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A Gimballed Control Moment Gyroscope Cluster Design for Spacecraft Attitude Control Open
This paper addresses the problem of singularity avoidance in a cluster of four Single-Gimbal Control Moment Gyroscopes (SGCMGs) in a pyramid configuration when used for the attitude control of a satellite by introducing a new gimballed con…
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Vibration Control of Tower Structure with Multiple Cardan Gyroscopes Open
Tower structure is sensitive to hurricane and earthquake, and it is easy to generate large deflection and dynamic response. The multiple cardan gyroscope has two rotational degrees of freedom, which can generate strong moments to constrain…
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Discovering Method of Control of the "Dzhanibekov's Effect" and Proposing its Applications for the Possible Future Space Missions Open
This paper is dedicated to the numerical simulation and analysis of the "Dzhanibekov's Effect" - non-stable "flipping" motion of the rigid body with periodic change by 180° of the direction of the main axis of its rotation, always occurrin…