Control moment gyro (CMG) that driven by traveling wave traveling wave hollow ultrasonic motor have the closed loop stability control and multi objective angle fixed angle locking precision in large speed range demand. In this paper, a mathematical model of the control moment gyro system driven by traveling wave type hollow ultrasonic motor is established. Then taking into account the nonlinear characteristics of the ultrasonic motor and the nonlinear characteristics of the control moment gyroscope system. A robust control strategy is designed by using fuzzy Takagi-Sugeno theory, and then the semi experimental platform of control moment gyroscope system is established according to the obtained frame system model and control model and control parameters. Finally, the system is obtained by the experiment in the speed range of 0.01 degrees /s~0.1 degrees /s, the speed fluctuation is less than 0.01 degrees /s, the system in the speed range of 0.1 degrees /s~72 degrees /s speed fluctuation is less than 5%, the absolute fixed angle locking error is less than 0.001°.
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