In the last years, Control Moment Gyros (CMGs) are widely used for high-speed attitude control, since they are able to generate larger torque compared to “classical” actuation systems, such as Reaction Wheels . This paper describes the attitude control problem of a spacecraft, using a Model Predictive Control method. The features of the considered linear MPC are: (i) a virtual reference, to guarantee input constraints satisfaction, and (ii) an integrator state as a servo compensator, to reduce the steady-state error. Moreover, the real-time implementability is investigated using an experimental testbed with four CMGs in pyramidal configuration, where the capability of attitude control and the optimization solver for embedded systems are focused on. The effectiveness and the performance of the control system are shown in both simulations and experiments.

近年来，控制力矩陀螺（CMG）被广泛用于高速姿态控制，因为与“经典”致动系统（如反作用轮）相比，它们能够产生更大的扭矩。本文使用模型预测控制方法描述了航天器的姿态控制问题。所考虑的线性MPC的特征是：（i）虚拟参考，以确保满足输入约束条件；以及（ii）积分器状态作为伺服补偿器，以减少稳态误差。此外，使用具有金字塔配置的四个CMG的实验测试台研究了实时可实施性，其中着重于嵌入式系统的姿态控制和优化求解器的能力。