Singular Zone in Quadrotor Yaw–Position Feedback Linearization

Feedback linearization-based controllers are widely exploited in stabilizing a tilt rotor (eight or twelve inputs); each degree of freedom (six degrees total) is manipulated individually to track the desired trajectory, since no singular decoupling matrix introduced while applying this method. The conventional quadrotor (four inputs), on other hand, an under-actuated MIMO system that can directly four independent at most. Common selections these outputs be yaw–position and attitude–altitude. It reported singularity found feedback linearization yaw–position-tracking problem. However, research, we argue existence ignored zone within range interest, which cause failure controller design. This paper visualizes noninvertible area details process deduction for first time. An attempt (switch controller) avert problem later discussed with verification by simulation Simulink MATLAB. All results sketched roll–pitch diagram.