  Saturations in control signal can challenge the stability proof of a
feedback-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-based
controllers. In this article, we provide a gait plan for this tilt vehicle and
control it utilizing the feedback linearization. Since saturations exist in the
control signals, we study the stability based on Lyapunov theory.
