  Among the tilt-rotors (quadrotors) developed in the last decades, Rylls model
with eight inputs (four magnitudes of the thrusts and four tilting angles)
attracted great attention. Typical feedback linearization maneuvers all the
eight inputs with a united control rule to stabilize this tilt-rotor. Instead
of assigning the tilting angles by the control rule, the recent research
predetermined the tilting angles and left the magnitudes of the thrusts the
only control signals. These tilting angles are designed to mimic the cat-trot
gait, avoiding the singular decoupling matrix feedback linearization. To
complete the discussions of the cat-gaits inspired tilt-rotor gaits, this
research addresses the analyses on the rest of the common cat gaits, walk, run,
transverse gallop, and rotary gallop. It is found that the singular decoupling
matrix exist in walk gait and rotary gallop. Further modifications are
conducted to these two gaits to accommodate the application of feedback
linearization. The modified gaits with different periods are then applied to
the tilt-rotor in tracking experiments, in which the references are uniform
rectilinear motion and uniform circular motion. All the experiments are
simulated in Simulink, MATLAB. The result shows that.
