Methods and apparatus to implement nonlinear control of vehicles moved using multiple motors

A non-transitory computer readable medium comprising instructions that, when executed, cause a machine to at least:

• calculate virtual position control variables for a vehicle moved using multiple motors, the virtual position control variables calculated based on an application of a control law to position information of the vehicle, the control law derived from a nonlinear model of movement of the vehicle;
• and
• calculate control inputs based on the virtual position control variables, the control inputs to control the motors to navigate the vehicle along a designated path of movement.

A method comprising:

• calculating virtual position control variables for a vehicle moved using multiple motors, the virtual position control variables calculated based on an application of a control law to position information of the vehicle, the control law derived from a nonlinear model of movement of the vehicle;
• and
• calculating control inputs based on the virtual position control variables, the control inputs to control the motors to navigate the vehicle along a designated path of movement.