A target directing device capable of stabilizing a space while generating a trajectory is provided. The command generation means (5) for setting the target angle (θt) and the target angular velocity (ωt), and the current angle state (θm, θg) of at least one of the controlled object (1) and the moving object is the current angle for trajectory generation ( θk) is generated and a trajectory of the control object (1) is generated based on the current angle state (θm, θg), target angle (θt) and target angular velocity (ωt), and an output angle signal according to the trajectory And a trajectory generating means (6) for outputting an output angular velocity signal (Kt), an angle detecting means (2) for detecting a current angle (θm) of the controlled object (1), and a moving object or a controlled object (1). A target directing device comprising: the inertial sensor (7), a first subtracting means (9) for subtracting the swing angle component (θg) of the moving body from the output angle signal (Kt), and a controller (3). is there.
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