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Rylls tilt-rotor is a UAV with eight inputs; the four magnitudes of thethrusts as well as four tilting angles of the thrusts can be specified in need,e.g., based on a control rule. Despite of the success in simulation,conventional feedback linearization witnesses the over-intensive change in theinputs while applying to stabilize Rylls tilt-rotor. Our previous research thusput the extra procedure named gait plan forward to suppress the unexpectedchanges in the tilting angles. Accompanying the Two Color Map Theorem, thetilting-angles are planned robustly and continuously. The designed gaits arerobust to the change of the attitude. However, this is not a complete theorybefore further applying to the tracking simulation test. This paper furtherdiscusses some gaits following the Two Color Map Theorem and simulates atracking problem for a tilt-rotor. A uniform circular moving reference isdesigned to be tracked by the tilt-rotor equipped with the designed robust gaitand the feedback linearization controller. The gaits satisfying Two Color MapTheorem show the robustness. The results from the simulation show the successin tracking of the tilt-rotor.

The Robust Gait of a Tilt-rotor and Its Application to Tracking Control -- Application of Two Color Map Theorem