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Saturations in control signal can challenge the stability proof of afeedback-linearization-based controller, even leading the system unstable [1].Thus, several approaches are established to avoid reaching the saturation bound[2,3]. Meanwhile, to help design the controller for a quad-tilt-rotor, [1]modeled a tilt vehicle with implementing the feedback-linearization-basedcontrollers. In this article, we provide a gait plan for this tilt vehicle andcontrol it utilizing the feedback linearization. Since saturations exist in thecontrol signals, we study the stability based on Lyapunov theory.

Stability Analysis of a Feedback-linearization-based Controller with Saturation: A Tilt Vehicle with the Penguin-inspired Gait Plan