Local Controllability of a System of Powered Gyroscopes

Controlling properties of an arbitrary system of powered gyroscopes are studied in relation to the current gyroscope location and constraints on the angular velocities of gyroscope rotation. The quality of local controllability is determined for three types of constraints as a function of the angular position of gyroscopes, and optimal algorithms of forming the controlling moment are derived. Comparative estimates of different indices of local controllability are obtained. The errors in the controlling moment are studied in relation to indices of local controllability.