Gait Analysis for a Tiltrotor: The Dynamic Invertible Gait

A conventional feedback-linearization-based controller, when applied to a tiltrotor (eight inputs), results in extensive changes tilting angles, which are not expected practice. To solve this problem, we introduce the novel concept of “UAV gait” restrict angles. The gait plan was initially used control problems quadruped (four-legged) robots. Applying approach, accompanied by feedback linearization, may give rise well-known non-invertible problem decoupling matrix. In study, explored invertible tiltrotor, and linearization stabilize attitude altitude. conditions necessary achieve full-rank matrix were deduced simplified near-zero roll zero pitch. This paper proposes several gaits conduct an attitude–altitude test. accepted within region interest visualized. simulation conducted Simulink, MATLAB. show promising responses stabilizing