Dynamic decoupling control of DGCMG gimbal system via state feedback linearization

To radically eliminate the influence of coupling torque caused by gyroscopic effects on system stability and precision and to improve the high precision performance of the low speed gimbal servo system in a double gimbal control moment gyro (DGCMG), this paper proposes a novel composite controller design method combining state feedback linearization and adaptive sliding mode control method. The precision problem caused by residual coupling and nonlinear friction have been successfully solved by introducing an adaptive sliding mode compensator. Simulation and experimental results show that the proposed method realizes dynamics decoupling of gimbal system and enhances system robustness against parameter change and external disturbance.