Application of a directed search to global steering of single gimballed CMGsA guided depth-first search that manages null motion about torque-producing trajectories calculated with a singularity-robust (SR) inverse is proposed as a practical feedforward steering law that can globally avoid (or minimize the impact of) singular states in minimally-redundant single gimballed CMG systems. Cost and heuristic functions are defined to guide the search procedure in improving CMG trajectories. On-orbit implementation of the steering law is proposed as an extension to momentum management algorithms. A set of simulation examples is presented, illustrating the search performance for a 4-CMG pyramid-mounted array. Sensitivities of feedforward gimbal trajectories are examined in the presence of unmodeled disturbances, and techniques are proposed for avoiding excessive divergence.
Document ID
19910065055
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Paradiso, Joseph A. (Charles Stark Draper Laboratory, Inc. Cambridge, MA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1991
Subject Category
Instrumentation And Photography
Report/Patent Number
AIAA PAPER 91-2718
Meeting Information
Meeting: AIAA Guidance, Navigation and Control Conference