Quaternion synthesis of a nonlinear control of the orientation of a moving object (Q677368)

An analytical method for constructing a nonlinear control for a moving object is proposed. The proposed method is based on the Hamiltonian quaternion methodology. The constructed control laws include nonlinear feedback paths in the components of the orientation error quaternion of the moving object and in its angular velocities, and have graphically explicit and compact structures that are convenient for real-time realization on an on-board processor. The method proposed by the author permits the determination of the feedback gain coefficients. The model has many applications in inertial systems and in systems for the control of manipulator robots.