Singular Zone in Quadrotor Yaw-Position Feedback Linearization
Systems and Control
2021-10-28 v2 Systems and Control
Abstract
It is well known that the conventional quadrotor is an under-actuated MIMO system. The number of the inputs is less than the degree of freedom. One approach in controlling this non-holonomic system is feedback linearization. In the frequently cited (305 times) application, the yaw and the position are selected as the controlled variables. It is reported that no singularity is found in their delta matrix, making it possible to apply the inversion within a wide range. However, we find the ignored singular zone within the range of interest. The unreported singular area can cause the failure in the controller design. This paper visualizes this uninvertible area and details the deduction process.
Keywords
Cite
@article{arxiv.2110.07179,
title = {Singular Zone in Quadrotor Yaw-Position Feedback Linearization},
author = {Zhe Shen and Takeshi Tsuchiya},
journal= {arXiv preprint arXiv:2110.07179},
year = {2021}
}
Comments
17 pages, 11 figures