The Pareto-Frontier-Based Stiffness of a Controller: Trade-off Between Trajectory Plan and Controller Design

Shen, Zhifu; Tsuchiya, Takeshi

doi:10.1007/978-3-031-10464-0_57

Cited by 2 publications

(3 citation statements)

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“…The thorough introductions on the cat gaits can be referred to specialized studies on cats, [30][31][32] where cat-walk gait is typically adopted at the moving speed of 0.54-0.74 m/s, 30 cat-trot gait and cat-gallop gait are typically adopted at the moving speeds of 2:12 m=s and 3:5 m=s, respectively. 31 Referring to this, we pair our reference in (42) with the speed around 2:12 m=s.…”

Section: Uniform Rectilinear Motionmentioning

confidence: 99%

“…Besides formula (42), further reference settings in formula (28) are _ X r ¼ 1:5, € X r ¼ 0, _ Y r ¼ 1:5, € Y r ¼ 0. Three different kinds of the gaits are analyzed: the fixed tilting angle gaits (r ¼ 0:65) in the "Fixed tilting angles" section, the cat trot with instant switch with different periods in the "Cat trot with instant switch" section, the cat trot with continuous switch with different periods in the "Cat trot with continuous switch" section.…”

Section: Uniform Rectilinear Motionmentioning

confidence: 99%

“…There are no steady state errors in position X , Y for a conventional quadrotor applying PD controllers in a position-tracking problem. 42,43 The equilibrium state for linearization to decouple the conventional quadrotor’s attitude and position is also at (12) to (14). While the conventional quadrotor stabilizes at this state, which is picked for linearization.…”

Section: Stability Analysismentioning

confidence: 99%

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Feedback linearization-based tracking control of a tilt-rotor with cat-trot gait plan

Shen

Tsuchiya

2022

International Journal of Advanced Robotic Systems

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With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the directions of the thrusts are maneuvered simultaneously based on a unified control rule. Although several promising results indicate that these controllers may track the desired complicated trajectories, the tilting angles are required to change relatively fast or in large scale during the flight, which turns to be a challenge in application. The recent gait plan for a tilt-rotor may solve this problem; the tilting angles are fixed or vary in a predetermined pattern without being maneuvered by the control algorithm. Carefully avoiding the singular decoupling matrix, several attitudes can be tracked without changing the tilting angles frequently. While the position was not directly regulated in that research, which left the position-tracking still an open question. In this research, we elucidate the coupling relationship between the position and the attitude. Based on this, we design the position-tracking controller, adopting feedback linearization. A cat-trot gait is further designed for a tilt-rotor to track the reference; three types of references are designed for our tracking experiments: set point, uniform rectilinear motion, and uniform circular motion. The significant improvement with less steady state error is witnessed after equipping with our modified attitude–position decoupler. It is also found that the frequency of the cat-trot gait highly influenced the steady state error.

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