VARIABLE SPEED CMG CONTROL OF A DUAL-SPIN STABILIZED UNCONVENTIONAL VTOL AIR VEHICLE

This paper describes an approach based on using both bias momentum and multiple control moment gyros for controlling the attitude of statically unstable thrust- levitated vehicles in hover or slow translation. The sta- bilization approach described in this paper uses these internal angular momentum transfer devices for stabil- ity, augmented by thrust vectoring for trim and other "outer loop" control functions, including CMG stabi- lization/desaturation under persistent externanl distur- bances. Simulation results show the feasibility of (1) improved vehicle performance beyond bias momentum assisted vector thrusting control, and (2) using control moment gyros to significantly reduce the external torque required from the vector thrusting machinery.