<p>Ensuring flight safety for tiltrotor aircraft during engine failure remains a critical challenge, particularly during the hover phase, when the risk of instability is greatest. Although previous studies have investigated actuator and motor faults in quadcopters, few have developed robust control strategies specifically for tiltrotors experiencing single-engine failure. This paper addresses this gap by proposing a sliding mode controller (SMC) integrated with an auxiliary PID yaw controller to enable a safe landing in the event of sudden engine loss. A comprehensive nonlinear dynamic model is derived, explicitly accounting for gyroscopic effects, aerodynamic forces, and reaction torques. To mitigate the chattering effect inherent in SMC, a boundary layer method using a saturation function is employed. The effectiveness of the proposed approach is verified through extensive simulations covering failure scenarios for each of the four engines. A detailed workflow of the control architecture is presented, and its performance is benchmarked against a conventional PID controller, demonstrating superior robustness and tracking precision. Simulation results, conducted in MATLAB Simulink with precise numerical integration, confirm that the aircraft maintains stability and achieves a safe landing despite asymmetrical thrust conditions. Recent advancements in intelligent calibration and neural dynamics are also discussed as a foundation for future improvements. This study provides a solid basis for the practical implementation of fault-tolerant control strategies in next-generation tiltrotor UAVs. In this study, we explicitly model actuator dynamics (rotor speed and tilt servos) in simulations to better reflect the real hardware's response and rate limits.</p>