Hybrid steering law with feedback and feedforward for single gimbal control moment gyroscopes

In order to improve the performance in singularity avoidance and escape of the dynamic steering law for single gimbal control moment gyroscopes (SGCMGs), a hybrid steering law with feedback and feedforward was proposed. When SGCMGs was not singular, the dynamic steering law with feedback was used. When SGCMGs approaching to or locked in the singular points, the feedforward was constructed to help them avoid or detour round the singular points. Compared with the conventional dynamic steering laws, the hybrid one has much more superior performances in singularity avoidance and escape. Meanwhile, the algorithm has little calculation amount and is easy to implement since it only needs the transpose rather than the pseudo inverse of the Jacobian matrix. Extensive simulation results demonstrate the effectiveness of the algorithm.