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We extend the inertia-free continuous control law for spacecraft attitude tracking derived in prior work to the case of three single-axis control moment gyroscopes with spherical gyro wheels. These CMGs are assumed to be mounted in a known and linearly independent con guration with an arbitrary and unknown orientation relative to the spacecraft principal axes. We demonstrate the performance of the modi ed control laws for rest-to-rest, motionto-rest and spin maneuvers without the need for a seperate steering algorithm.

Inertia-Free Spacecraft Attitude Control with Control Moment Gyroscope Actuation