A double-gimbalcontrol-moment gyro (CMG) is modeled using Lagrange's equations, and an adaptive f... more A double-gimbalcontrol-moment gyro (CMG) is modeled using Lagrange's equations, and an adaptive feedback control law is developed to follow a commanded CMG motion. The control law does not require knowledge of the mass properties of the CMG. A Lyapunov argument is used to prove that command following is achieved globally with asymptotic convergence. Numerical simulationsare performed to illustrate the command following algorithm. A CMG testbed was designed and constructed to implement and demonstrate the adaptive algorithm. This testbed is described, and experimental results are given.
A double-gimbalcontrol-moment gyro (CMG) is modeled using Lagrange's equations, and an adaptive f... more A double-gimbalcontrol-moment gyro (CMG) is modeled using Lagrange's equations, and an adaptive feedback control law is developed to follow a commanded CMG motion. The control law does not require knowledge of the mass properties of the CMG. A Lyapunov argument is used to prove that command following is achieved globally with asymptotic convergence. Numerical simulationsare performed to illustrate the command following algorithm. A CMG testbed was designed and constructed to implement and demonstrate the adaptive algorithm. This testbed is described, and experimental results are given.
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Papers by Jasmin Ahmed