Contents I. Introduction
Unmanned Aerial Vehicles (UAVs) have been extensively utilized in a variety of outdoor applications, including aerial photography [1], disaster management [2], logistics [3], and other domains that may entail windy conditions. However, due to their lightweight and compact size, UAVs are highly susceptible to external disturbances that can adversely affect their stability. To compensate for these disturbances and maintain the desired state, the rotor speed can be adjusted to generate reactive torque. Nevertheless, it can be challenging to respond quickly enough using rotor speed alone, and the UAV's attitude may become unstable. Therefore, this study proposes a UAV equipped with Control Moment Gyroscopes (CMGs) to aid maneuvers in the presence of disturbances. The CMG is one of the space actuators that can produce relatively fast reaction torque compared to rotors while consuming a comparable amount of energy [4]. The CMG's structure comprises of a flywheel and a gimbal that encircles the flywheel [5]. Angular momentum is generated as the flywheel rotates, and the gimbal changes the direction of the angular momentum to generate a gyroscopic torque that controls the UAV's states.
