Rapid SGCMGs Singularity-Escape Steering Law in Gimbal Angle Space

The singular surfaces of pyramid-type single-gimbal control moment gyroscope (SGCMG) configuration are classified and visualized in the angular momentum space. Continuous impassable and passable singular surfaces in the gimbal angle space is obtained by using the Binet-Cauchy theory, and the relationship between the two spaces is subsequently analyzed. Thereafter, a rapid singularity-escape steering law in the gimbal angle space is proposed to drive SGCMGs to escape from an impassable singular surface. Simulation results demonstrate the effectiveness of the proposed steering law.