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.

中文翻译：

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控制力矩陀螺执行器跟踪任务的非线性控制器设计

控制力矩陀螺仪（CMG）被广泛用作卫星和航天器姿态控制的执行器，尽管其高度耦合的非线性行为，但要求控制器在宽工作范围内完成CMG的跟踪任务。从教育控制产品（ECP）提出了各种控制技术来跟踪750型CMG单元的任务，但是有一些控制技术在很宽的操作范围内实现了它，例如线性参数变化方法。可以实现这一目标的另一种方法是非线性控制方法。因此，本文提出了一种基于反馈线性化的非线性控制器设计，用于宽工作范围内CMG单元的跟踪任务。为了应对在控制信号计算中出现的奇异性，所提出的控制器具有由外部跟踪控制器和内部速度控制器组成的级联结构，两者均基于输入-输出线性化方法。通过数值模拟和实时实际实验对设计的控制器进行了验证。