With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the directions of the thrusts are maneuvered simultaneously based on a unified control rule. Although several promising results indicate that these controllers may track the desired complicated trajectories, the tilting angles are required to change relatively fast or in large scale during the flight, which turns to be a challenge in application. The recent gait plan for a tilt-rotor may solve this problem; the tilting angles are fixed or vary in a predetermined pattern without being maneuvered by the control algorithm. Carefully avoiding the singular decoupling matrix, several attitudes can be tracked without changing the tilting angles frequently. While the position was not directly regulated in that research, which left the position-tracking still an open question. In this research, we elucidate the coupling relationship between the position and the attitude. Based on this, we design the position-tracking controller, adopting feedback linearization. A cat-trot gait is further designed for a tilt-rotor to track the reference; three types of references are designed for our tracking experiments: set point, uniform rectilinear motion, and uniform circular motion. The significant improvement with less steady state error is witnessed after equipping with our modified attitude–position decoupler. It is also found that the frequency of the cat-trot gait highly influenced the steady state error.

随着横向约束力的引入，倾转旋翼在控制器设计中获得了更大的灵活性。典型的反馈线性化方法利用所有输入来控制该车辆；推力的大小和方向是基于统一的控制规则同时操纵的。尽管一些有希望的结果表明这些控制器可以跟踪所需的复杂轨迹，但需要在飞行过程中相对快速或大规模地改变倾斜角度，这成为应用中的挑战。最近的倾转旋翼步态计划可能会解决这个问题。倾斜角是固定的或以预定的模式变化，而不受控制算法的操纵。小心避免奇异解耦矩阵，无需频繁更改倾斜角度即可跟踪多种姿态。虽然该研究并未直接规定职位，但职位跟踪仍然是一个悬而未决的问题。在这项研究中，我们阐明了位置和态度之间的耦合关系。基于此，我们设计了位置跟踪控制器，采用反馈线性化。进一步为倾斜转子设计了猫小跑步态以跟踪参考；为我们的跟踪实验设计了三种类型的参考：设定点、匀速直线运动和匀速圆周运动。在配备我们改进的姿态-位置解耦器后，可以看到显着的改进和更少的稳态误差。还发现猫小跑步态的频率对稳态误差有很大影响。