Directional passability and quadratic steering logic for pyramid-type single gimbal control moment gyros

Yamada, Katsuhiko; Jikuya, Ichiro

doi:10.1016/j.actaastro.2014.05.022

Cited by 24 publications

(6 citation statements)

References 22 publications

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“…Another advantage of using M is that the search of the best solution also takes into account the null-space of J through H and therefore will help pass and/or avoid the singularities. See the work of K. Yamada and I. Jikuya [23] for theoretical research and proofs on the usefulness of this formulation.…”

Section: A Singularity-handling Formulationmentioning

confidence: 99%

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Nonlinear dynamic inversion for redundant systems using the EKF formalism

Evain

Rognant

Alazard

et al. 2016

2016 American Control Conference (ACC)

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This paper presents an allocator for over-actuated systems based on the Extended Kalman Filter (EKF). The main advantages of the proposed approach are the greater flexibility in handling the constraints and its real-time capabilities. Based on the literature, theoretical convergence results, which ensure the convergence towards the local optimal values looked for, are presented. Another formulation of the kinematic equations of redundant systems that meet some constraints is also proposed in order to go through and/or avoid singularities. The two formulations are combined and applied to an academic example (a planar redundant manipulator arm).

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Section: A Singularity-handling Formulationmentioning

confidence: 99%

“…To our best knowledge, only the article [23] uses the second-order Taylor expansion for control. However, the method proposed in article [23] to find ∆x…”

Section: A Singularity-handling Formulationmentioning

confidence: 99%

Nonlinear dynamic inversion for redundant systems using the EKF formalism

Evain

Rognant

Alazard

et al. 2016

2016 American Control Conference (ACC)

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“…By also considering the assigned task (tracking a moment in the reference direction), an escape method can be optimized to achieve escape in the desired direction, as well as to avoid inducing dithering signals when none are needed. For example, Yamada and Jikuya described the geometric properties of singularity escape in specific directions of the momentum space [19].…”

Section: Introductionmentioning

confidence: 99%

Directional Singularity Escape and Avoidance for Single-Gimbal Control Moment Gyroscopes

Valk

Berry

2018

Journal of Guidance, Control, and Dynamics

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Inertia parameters M d Gyroscopic moment due to satellite rotation τ, τ c Gyroscopic moment due toγ orγ c τ s Gyroscopic moment due toγ s τ ref , e Gyroscopic moment reference and error J, P, Q Cost function and weighing matrices Ω c , µ Rate and momentum magnitude of one flywheel b i Projection ofτ ref on plane orthogonal toĝ i ψ i Angle betweenĥ i and b i p i , d i Gimbal potential and escape potential δ man Manipulability measure δ track , δ pot Tracking index and total gimbal potential z j , κ j Tracking index parameters σ min Singular value below which damping is applied σ acp Singular value for tracking with acceptable rates kγ, k Ω Gimbal and flywheel motor gainṡ ω c Body acceleration for computing motor torques β, k p , k v Satellite and attitude control constants τ min , τ max Minimum and maximum moment magnitude η, d 0 , ζ DSEA control parameters λ, φ, , W i o-DSR control parameters RA Left superscript denoting evaluation at nearest reference-aligned singularity 1

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“…Then, the torque error must be induced to escape from the corresponding impassable singular surface. Nakamura and Hanafusa [8] presented a singular robust (SR) steering law, and this method was improved using an SVD method in [9][10][11]. Wie [12][13][14] summarized the theories of singularity robust steering laws and utilized a non-diagonal weighting matrix to effectively generate deterministic dither signals when gimbal angles are near the singular states.…”

Section: Introductionmentioning

confidence: 99%