Adaptive control of double-gimbal control-moment gyro with unbalanced rotor

被引：38

作者：

Ahmed, J

Bernstein, DS

机构：

[1] Robert Bosch Corp, Res & Technol Ctr, Palo Alto, CA 94303 USA

[2] Univ Michigan, Dept Aerosp Engn, Ann Arbor, MI 48109 USA

来源：

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 2002年 / 25卷 / 01期

关键词：

D O I：

10.2514/2.4855

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

A double-gimbal control-moment gyro (CMG) is modeled using Lagrange's equations, and an adaptive feedback control law is developed to follow a commanded CMG motion. The control law does not require knowledge of the mass properties of the CMG. A Lyapunov argument is used to prove that command following is achieved globally with asymptotic convergence. Numerical simulations are performed to illustrate the command following algorithm. A CMG testbed was designed and constructed to implement and demonstrate the adaptive algorithm. This testbed is described, and experimental results are given.

引用

页码：105 / 115

页数：11

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