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.

翻译：常规反馈- 光化控制器,适用于倾斜机器人( 8个输入器),导致倾斜角度发生巨大变化,实际上无法预期。为了解决这个问题,我们引入了新颖的UAV步法概念,以限制倾斜角度。动作计划最初是为了解决四重( 四腿)机器人的控制问题。将这一方法,辅之以反馈线性化,移植到倾斜机器人,可能会在脱钩矩阵中造成众所周知的不可忽略的问题。在这个研究中,我们探索倾斜轨道的不可忽略的轨迹,并应用反馈线性线化来稳定姿态和高度。实现完全脱钩矩阵的同等条件被推算并简化为近零滚球和零球。本文提出了进行姿态- 高度控制测试的几张不可忽略的格子。在感兴趣的区域中被接受的格子被视觉化。实验在Simmlink, MATLAB中模拟了实验结果显示在姿态和高度方面有希望的反应。