Using the Mixed Newton-Euler Formulation in the Orientation Control of Flexibly Mounted Bodies
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Extended bodies whose own flexibility may conditionally be neglected can often be faithfully treated directly by any of several formulations based on classical dynamics. Here, the mixed approach employing the Newton-Euler equations for centroidal body-fixed frames will be used, where the absolute angular orientation will be computed via the associated kinematic differential equations relating the rotation matrix with the angular velocity vector. As an example of the practical (but restricted) use of simplified classical methods - and of the computationally attractive mixed Newton-Euler ODE formulation - the mathematical model of the U.S. Army's MLRS-ILMS mechanical launcher is described which is automatically controlled to simultaneously rotate about nonintersecting, nominally vertical and horizontal axes when commanded to target absolute angular orientation coordinates.