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

Ryll’s tilt-rotor is a UAV with eight inputs; the four magnitudes of the thrusts 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 the inputs while applying to stabilize Ryll’s tilt-rotor. Our previous research thus puts the extra procedure named gait plan forward to suppress the unexpected changes in the tilting angles. Accompanying with Two Color Map Theorem, the tilting angles are planned robustly and continuously. The designed gaits are robust to the change of the attitude. However, this is not a complete theory before applying to the tracking simulation test. This paper further discusses some gaits following Two Color Map Theorem and simulates a tracking problem for a tilt-rotor. A uniform circular moving reference is designed to be tracked by the tilt-rotor equipped with the designed robust gait and the feedback linearization controller. The planned gaits satisfying Two Color Map Theorem in this research show the robustness. The results from the simulation show the success in tracking of the tiltrotor.