In this paper, we analyze the spacecraft dynamics with MEDs (Momentum Exchange Devices) and develop a fault-tolerant architecture of two parallel DGVSCMGs (Double-Gimbal Variable-Speed Control Moment Gyros). We propose two modes of a two parallel DGVSCMG system (parallel DGCMG mode and single DGVSCMG mode). Based on the dynamics of these two modes, embedding the parameter dependent part of the input matrix into the steering law while introducing a PDCT (Parameter-Dependent Coordinate Transformation) as well as a virtual state variable, we develop an easy-to-use LPV (Linear Parameter-Varying) model, in which we deal with 3-axis attitude control of a spacecraft with two modes while switching these two modes smoothly. Through numerical examples, we demonstrate the efficiency of the proposed method.
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