{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:CHMXAMYWIC6MN4IR7TDOZERWDQ","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"703ab531463559296c4b07110fe47623f583f334880e639e50aaead43da56565","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-12-20T17:53:01Z","title_canon_sha256":"bda66e22f29a0681b3732ff523d18d9b2046882a74796364087c9a2defac6c0c"},"schema_version":"1.0","source":{"id":"1612.06784","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1612.06784","created_at":"2026-05-18T00:05:34Z"},{"alias_kind":"arxiv_version","alias_value":"1612.06784v1","created_at":"2026-05-18T00:05:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1612.06784","created_at":"2026-05-18T00:05:34Z"},{"alias_kind":"pith_short_12","alias_value":"CHMXAMYWIC6M","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_16","alias_value":"CHMXAMYWIC6MN4IR","created_at":"2026-05-18T12:30:09Z"},{"alias_kind":"pith_short_8","alias_value":"CHMXAMYW","created_at":"2026-05-18T12:30:09Z"}],"graph_snapshots":[{"event_id":"sha256:72918650c7de5f3229b526de623110f6bbb870c9a429bac26271ea8e56f21c2e","target":"graph","created_at":"2026-05-18T00:05:34Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"This paper discusses spacecraft control using variable-speed CMGs. A new operational concept for VSCMGs is proposed. This new concept makes it possible to approximate the complex nonlinear system by a linear time-varying system (LTV). As a result, an effective control system design method, Model Predictive Control (MPC) using robust pole assignment, can be used to design the spacecraft control system using VSCMGs. A nice feature of this design is that the control system does not have any singular point. A design example is provided. The simulation result shows the effectiveness of the proposed","authors_text":"Yaguang Yang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-12-20T17:53:01Z","title":"Singularity-Free Spacecraft Attitude Control Using Variable-Speed Control Moment Gyroscopes"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1612.06784","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:00de18b7c1673c1a347c0019dda36d2938ed7313405c290cd01c9c7870b8c74d","target":"record","created_at":"2026-05-18T00:05:34Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"703ab531463559296c4b07110fe47623f583f334880e639e50aaead43da56565","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-12-20T17:53:01Z","title_canon_sha256":"bda66e22f29a0681b3732ff523d18d9b2046882a74796364087c9a2defac6c0c"},"schema_version":"1.0","source":{"id":"1612.06784","kind":"arxiv","version":1}},"canonical_sha256":"11d970331640bcc6f111fcc6ec92361c1abce847d4b8d0956046c679f5a7b8ce","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"11d970331640bcc6f111fcc6ec92361c1abce847d4b8d0956046c679f5a7b8ce","first_computed_at":"2026-05-18T00:05:34.609290Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:34.609290Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2JYxHkV/zI3Q2SRw/sNRfDA/ZXFI8b/ympF2HO1XKAU8wcxo4TwgcX2riStH3nZY2+FzZZ7RoIw3DgGiokEGDw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:34.609731Z","signed_message":"canonical_sha256_bytes"},"source_id":"1612.06784","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:00de18b7c1673c1a347c0019dda36d2938ed7313405c290cd01c9c7870b8c74d","sha256:72918650c7de5f3229b526de623110f6bbb870c9a429bac26271ea8e56f21c2e"],"state_sha256":"4161a7dfa2e72e5b7c4bda9071d8fb8519d7ea158c0d44fc22b93c0b2cc892be"}