Adaptive control of gimbal servo systems for control moment gyroscopes

As inertial actuators mounted on the spacecraft, Single Gimbal Control Moment Gyroscope (SGCMG) systems can affect the attitude control accuracy to a great extent. In order to reduce the effects of parameter uncertainties and disturbances on the gimbal servo systems, an adaptive controller is designed in this paper. This controller can estimate physical parameters and disturbances on line, and calculate the control torque for each SGCMG gimbal directly. And also, this controller can not only make the gimble angle and gimble rate error converge to zero asymptotically, but also can attenuate the effect of the disturbance torque on the servo performance to a great extent, such as friction, ripple, and the gyroscopic torque, etc. Comparatively, it has a simple form and is easy to be implemented. Simulation results indicate that the controller designed above is feasible.