Backstepping Control Using Single Gimbal Control Moment Gyro with parameter uncertainties

this paper presents a robust backstepping nonlinear control of a spacecraft used for rapid slew maneuver for large angles (Roll, Pitch, Yaw). A cluster of four pyramid configuration of SGCMG (Single Gimbal Control Moment Gyro) is used as an actuator. GSR (Generalized Steering Robust) method is used to avoiding/escaping from singularity. The proposed control method effectively compensates the influence of the uncertainties of the moment of inertia parameters in the agile satellite dynamics, also deals with rapidly change from any initial angle to any final angle in the three axis attitude maneuver based on the Lyapunov function. The important features of the proposed system are demonstrated by carrying out a simulation model under MATLAB((R)) / SIMULINK (R) environment.