Inertia parameters M d Gyroscopic moment due to satellite rotation τ, τ c Gyroscopic moment due toγ orγ c τ s Gyroscopic moment due toγ s τ ref , e Gyroscopic moment reference and error J, P, Q Cost function and weighing matrices Ω c , µ Rate and momentum magnitude of one flywheel b i Projection ofτ ref on plane orthogonal toĝ i ψ i Angle betweenĥ i and b i p i , d i Gimbal potential and escape potential δ man Manipulability measure δ track , δ pot Tracking index and total gimbal potential z j , κ j Tracking index parameters σ min Singular value below which damping is applied σ acp Singular value for tracking with acceptable rates kγ, k Ω Gimbal and flywheel motor gainṡ ω c Body acceleration for computing motor torques β, k p , k v Satellite and attitude control constants τ min , τ max Minimum and maximum moment magnitude η, d 0 , ζ DSEA control parameters λ, φ, , W i o-DSR control parameters RA Left superscript denoting evaluation at nearest reference-aligned singularity 1

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