Singularity analysis and steering control laws for adaptive-skew pyramid-type control moment gyros

► The adaptive-skew pyramid-type CMGs (ASCMGs) can be realized by a simple mechanism. ► Despite the changeable skew angle, ASCMGs system still has singularities. ► The impassable singular surface area is the minimum at the skew angle of 54.73°. ► ASCMGs system is capable of reducing settling time by changing the skew angle. ► The skew angle steered by the AS-GSR-LG returned toward 54.73° after maneuver.