The Null Motion for Singularity Avoidance of Adaptive-Skew Single Gimbal Control Momentum Gyroscopes

The adaptive-skew of the single gimbal control moment gyroscopes (ASGCMG) has been proposed. The effectiveness of the singularity avoidance with varying variable skew angle in ASGCMG is not clear. In this paper, the singularity of ASGCMG is analyzed based on Binet-Cauchy identity, and the singular gimbal angles are given, so the characteristics of the ASGCMG system can be used for designing logic. The mechanism of the singularity avoidance with assisting of the varying skew angle is revealed. Based on convex optimization theory, the new steering law with null motion is designed.