Torque Direction Constrained Singular Avoidance Steering Law for Five-Skewed SGCMG System

Abstract

The five-skewed single gimbal control moment gyroscope (SGCMG) system, with its superior symmetry and weight advantages compared to the regular pentagonal pyramid configuration, has been widely applied in agile satellites. However, uncertainties in the moment of inertia, actuator installation errors, and other factors induce deviations in control torque execution. Addressing the challenge of avoiding singular states in SGCMGs during attitude maneuvers, this paper proposes a torque direction constrained (TDC) singular avoidance steering law tailored for the five-skewed configuration, solving the non-singular steering problem under control torque deviations. The method determines the optimal initial gimbal angle (IGA) according to the constraints imposed by the five-skewed configuration and designs a robust singular avoidance steering law by introducing torque direction constraints. Simulations demonstrate that the algorithm enables non-singular attitude maneuvers for any zero-angular-momentum initial state.