A satellite system with multiple control moment gyros (CMGs) is formulated by Newton-Euler method in a general form. A hardware experimental system is constructed for simulating a space robot system with a CMG to discuss control methods. Two control methods, i.e., the Lyapunov type controller and the controller designed by exact linearization, are examined through the hardware system. The feasibility of the modeling and the controllers have been verified by hard-ware experiments as well as numerical simulations. The advantages of the design by exact linearization are clarified.
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