Techniques for providing singularity escape and avoidance are disclosed. In one embodiment, a method for providing control moment gyroscope (CMG) attitude control singularity escape includes calculating a Jacobian A of a set of control equations, calculating a measure of closeness to a singularity, and comparing the calculated closeness to a threshold value, when the calculated closeness is less than or equal to the threshold value, recalculating the Jacobian A. Recalculating may include determining a new direction of virtual misalignment of .beta. and .gamma., recalculating the Jacobian inputting the new direction of the virtual misalignment, recalculating the measure of closeness to a singularity, and comparing the measure of closeness to the threshold value. Further, the method may include calculating a gimbal rate command if the of closeness is greater than the threshold value and generating a torque from the gimbal rate command to control the attitude of a satellite.
This information is part of a study by Oasis Global, Inc. of all space inventions filed at the United States Patent and Trademark Office, and is provided for informational purposes only. It is not an endorsement of any particular assignee, inventor or invention. Although Peter A. Koziol represents inventors and assignees of space inventions he does not represent all of the inventors and assignees listed. The prosecuting attorney agent or firm for each patent is identified by the United States Patent and Trademark Office in the patent specfication, which can be viewed by clicking on the patent image or downloading the patent document. For more information regarding Mr. Koziol's background and experience, or to learn more about space inventions, please contact Mr. Koziol.
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