To handle the mismatched disturbance affecting the accuracy of double-gimbal system angular speed control in both working conditions of the Double Gimbal Variable Speed Control Moment Gyroscope (DGVSCMG), a composite controller combining Extended State Observer (ESO) and state feedback control are proposed. Based on modeling and analyzing the mismatched disturbances of the gimbal system in both flywheel mode and CMG mode, a novel ESO method for estimating mismatched disturbances is designed, and a composite controller combining state feedback control is proposed with an appropriately chosen coordinate transformation to decrease the mismatched disturbance impact on the gimbal system. The stability of the overall system is also analyzed. The simulation results validate the effectiveness of the proposed control method. The experimental results show that the proposed controller can effectively reduce the influence of coupling moment on the inner and outer gimbal angular rates. The angular rate fluctuations of the inner and outer gimbals are reduced by 85% and 78% respectively in the flywheel mode, and the angular rate fluctuation of the outer gimbal decreases by 75% in the CMG mode.
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