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The paper addresses a problem of constrained spacecraft attitudestabilization with simultaneous reaction wheel (RW) desaturation. Thespacecraft has a reaction wheel array (RWA) consisting of four RWs in apyramidal configuration. The developments exploit a spacecraft dynamics modelwith gravity gradient torques. The linearized dynamics are shown to becontrollable at almost all RWA configurations. Configurations that result inthe highest Degree of Controllability are elucidated. A strategy that combinesan incremental reference governor and time-distributed model predictive controlis proposed to perform constrained RW desaturation at low computational cost.Simulation results of successful RW desaturation maneuvers subject tospacecraft pointing constraints, RW zero-speed crossing avoidance and limits oncontrol moments are reported.

Constrained reaction wheel desaturation and attitude control of spacecraft with four reaction wheels