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Based on the singular value decomposition theory,this paper analyzed the mechanism of escaping/avoiding singularity using generalized and weighted singularity-robust steering laws for a spacecraft that uses single gimbal control moment gyros (SGCMGs) as the actuator for the attitude control system.The expression of output-torque error is given at the point of singularity,proving the incompatible relationship between the gimbal rate and the output-torque error.The method of establishing a balance between the gimbal rate and the output-torque error is discussed,and a new steering law is designed.Simulation results show that the proposed steering law can effectively drive SGCMGs to escape away from singularities.
Based on the singular value decomposition theory, this paper analyzed the mechanism of escaping / avoiding singularity using generalized and weighted singularity-robust steering laws for a spacecraft that uses single gimbal control moment gyros (SGCMGs) as the actuator for the attitude control system. expression of output-torque error is given at the point of singularity, proving the incompatible relationship between the gimbal rate and the output-torque error. The method of establishing a balance between the gimbal rate and the output-torque error is discussed, and a new steering law is designed. Simulation results show that the proposed steering law can effectively drive SGCMGs to escape away from singularities.