Gait Analysis for A Tilt-rotor: The Dynamic Invertible Gait

TL;DR

This paper introduces a novel invertible gait concept for tilt-rotors, adapting quadruped robot control strategies to improve attitude and altitude stabilization through feedback linearization.

Contribution

It develops invertible gait strategies for tilt-rotors, addressing non-invertible issues and enabling effective control of attitude and altitude.

Findings

Successful simulation of gait control in MATLAB/Simulink

Achieved promising attitude and altitude stabilization

Identified conditions for invertible decoupling matrix

Abstract

Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel concept UAV gait to restrict the tilting angles. The gait plan was initially to solve the control problems for quadruped (four-legged) robots. Transplanting this approach, accompanied by feedback linearization, to the tiltrotor may cause the well-known non-invertible problem in the decoupling matrix. In this research, we explore the invertible gait for the tiltrotor and apply feedback linearization to stabilize the attitude and the altitude. The equivalent conditions to achieve a full-rank decoupling matrix are deduced and simplified to a near zero roll and zero pitch. This paper proposed several invertible gaits to conduct the attitude-altitude control test. The accepted gaits within the region of interest are visualized. The experiment is simulated in Simulink, MATLAB. The results show the promising response in attitude and altitude.