Adouble-gimbalcontrol-momentgyro (CMG) ismodeled usingLagrange’s equations,and an adaptive feedback control law is developed to follow a commandedCMG motion. The control law does not require knowledge of the mass properties of the CMG. A Lyapunovargument is used to prove that command following is achieved globally with asymptoticconvergence. Numerical simulationsare performed to illustrate the ...