4-SGCMGを使用した小型衛星の姿勢制御および特異点回避(S66-1 衛星と宇宙ロボットの制御,S66 宇宙ロボットと制御技術)  [in Japanese] Singularity Robust Control of Redundant Control Moment Gyros for Small Satellite  [in Japanese]

In recent years, many missions using the small satellite as piggyback are proposed triggered by the increase in a satellite launch opportunity, or the ease of development. One of the most severe constraints in small satellite is the limited power, mass or capacity of various devices. In this research, the attitude control system using control moment gyros (CMGs) is proposed in order to perform the high-speed maneuver missions of a small satellite. A system of small-sized CMGs can provide unique torque, angular momentum and slew rate capabilities to small satellites without increase in power, mass or volume. However, there exists a singular point problem what is peculiar to CMGs. In this paper, we propose a singularity avoidance logic for the CMG system using singular value decomposition.