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Singularity Penetration with Unit Delay (SPUD)

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Figure

Figure 1.  ITERATION: Optimum singularity-free CMG skew angle, 
Figure 3.  Six possible combinations of mixed skew angles laying one or two momentum cutting planes from 0° to 90°
Figure 5.  SIMULATION: Comparison of normalized momentum trajectory for simple yaw maneuvers using typical coupled control (thick-dashed line) Vs
Figure 6.  SIMULATION: (Top) Comparison of Euler angles for 50° yaw maneuver with & without singularity penetration with unit delay (SPUD); (Bottom) Comparison of tracking errors for 50° yaw maneuver with & without singularity penetration with unit delay (SPUD)
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