Adaptive control of a dual-axis CMG with an unbalanced rotor

A control moment gyro (CMG) is modeled using Lagrange's equations and an adaptive feedback control law is developed to track a commanded CMG motion. The control law is globally valid and does not require knowledge of the mass properties of the CMG. A Lyapunov argument is used to show that tracking is achieved asymptotically. Numerical simulations are performed to illustrate the tracking algorithm and a brief description of the experimental testbed is provided.