Spacecraft control with skewed control moment gyros
 A method of and system for applying single gimbal control moment gyros to spacecraft attitude control employing two control moment gyros with nominal spin axes anti-parallel and gimbal axes displaced at a fixed angle in the plane normal to the nominal spin axes to achieve two orthogonal body fixed control torques using two wheels. If the gimbal axis displacement of each of three wheels is 120 degrees, two wheels provide independent uncoupled orthogonal two-axis control, and the third can substitute, in the event of failure, for either of the two requiring no change in control law or performance. 
Hughes Electronics
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David J. John W. Harold A.
Rosmann Smay Rosen