Robust Nonlinear Control Applied to a Control Moment Gyroscope with SISO Configuration ?

摘要

This paper presents a robust nonlinear control design for a control moment gyroscope (CMG) in its single-input/single-output (SISO) configuration. The CMG unit, model 750 from Educational Control Products, is described, as well as its SISO dynamics. The control design is based on a sliding-mode control approach and aims at tracking a desired output trajectory in a wide operational range, despite uncertainties on some model parameters and output disturbances. Results are obtained from both numerical simulations and real-time practical experiments to validate the controller.