  Rylls 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 Rylls tilt-rotor. Our previous research thus
put the extra procedure named gait plan forward to suppress the unexpected
changes in the tilting angles. Accompanying the 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 further applying to the tracking simulation test. This paper further
discusses some gaits following the 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 gaits satisfying Two Color Map
Theorem show the robustness. The results from the simulation show the success
in tracking of the tilt-rotor.
