Traditionally, missile autopilots have been designed using linear control approaches with gain scheduling. Autopilot design is typically carried out in the frequency domain and the plant is linearized around various operating points on the trajectory. Moreover, three single axis autopilots are usually designed without considering the interaction among the motion axes, i.e., the autopilots in ea...

A nonlinear adaptive attitude controller is designed in this paper that compensates for dynamic uncertainties in the spacecraft inertia matrix and unknown dynamic and static friction effects in the control moment gyroscope (CMG) gimbals. Attitude control torques are generated by means of a four single gimbal CMG pyramid cluster. The challenges to develop the adaptive controller are that the con...

Gimbal or other stable platforms have structures that move according to its functions. This is for the purpose of keeping track goals fullest. Tracking targets can become difficult as subject moves further and away they are out gimbal’s allowable viewing range. Besides, under influence noise signals form outside space, it becomes even more observe targets. To overcome above disadvantages, this ...

We compare the different control methods in learning a robotic manipulation task. The task is to push an object (a cube and sphere) from varying beginning position to a fixed goal position. Complex contact dynamics is involved. We used PPO as the learning algorithm trained from scratch with dense rewards. Comparison is performed on two dimensions: learning at joint level vs. end-effector level,...

Single-gimbal control moment gyros (CMGs) have several advantages over other actuators for attitude control of spacecraft. For instance, they act as torque amplifiers and, thus, are suitable for slew maneuvers. However, their use as torque actuators is hindered by the presence of singularities, which, when encountered, do not allow a CMG cluster to generate torques about arbitrary directions. A...

For electro-optical imaging systems, line-of-sight stabilization against different disturbances created by mobile platforms is crucial property. The development of high resolution sensors and the demand in increased operating distances have recently increased the expectations from stabilization loops. For that reason, higher gains and larger bandwidths become necessary. As the stabilization loo...

The dynamics equations of a spacecraft consisting of two bodies mutually rotating around a common gimbal axis are derived by the use of the Newton–Euler approach. One of the bodies contains a cluster of single-gimbal variable-speed control moment gyros. The equations include all of the inertia terms and are written in a general form, valid for any cluster configurations and any number of actuat...