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gyroscopes is developed. The method provides closed-loop internal momentum tracking control to enable the flywheels to start from rest and reach desired wheel speeds. The proposed controller functioning as a variable-speed control moment gyroscope steering law is developed in terms of the gimbal rates and the flywheel accelerations, which are weighted by a singularity measure. Specifically, using null motion, a strategy is developed to simultaneously perform gimbal reconfiguration for singularity avoidance andinternal momentum management for flywheel startup. A Lyapunov-based stability analysis is used to prove asymptotic attitude tracking and exponential internal momentum tracking despite the effects of uncertain, time-varying satellite inertia properties and uncertain actuatorinertiaproperties.Numericalsimulationsillustratetheperformanceoftheadaptivecontrollerasavariablespeed control moment gyroscope steering law.

New Startup Method Using Internal Momentum Management of Variable-Speed Control Moment Gyroscopes