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<p>This paper presents a novel fault-tolerant control (FTC) architecture for a three‑engine tiltrotor UAV, addressing the critical challenges of nonlinear, strongly coupled dynamics during vertical take‑off, transition, and cruise flight modes under simultaneous actuator faults and external disturbances. The primary innovation lies in the integration of an improved second‑order sliding‑mode controller with nonlinear coefficient tuning and a dual‑stage Kalman estimator. Unlike conventional FTC methods that either assume known fault statistics or treat faults as additional state variables—thereby increasing computational burden—the proposed estimator decouples state and fault estimation into two separate stages. This separation not only reduces computational load by approximately 30% but also enables robust fault reconstruction without prior knowledge of fault statistics, a significant advancement for practical deployment where fault characteristics are often unknown. The controller design further innovates by decomposing the system into fully‑excited and under‑excited subsystems, allowing for subsystem‑specific equilibrium‑based gain adaptation that enhances robustness against torque asymmetry and minimizes control effort. Numerical simulations under multiple fault scenarios demonstrate that the proposed method outperforms benchmark approaches [<CitationRef CitationID="CR22">22</CitationRef>, <CitationRef CitationID="CR25">25</CitationRef>] with quantifiable improvements: a 40% reduction in maximum tracking error, 35% faster fault‑recovery time, and a 26% increase in path‑tracking accuracy.</p>

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Control of a three-engine tiltrotor drone with vertical and winged flight capability

  • 期刊论文

  • 发表日期：

    2026年7月2日

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  • Mukesh Pushkarna,
  • Feras Alnaimat,
  • Merwa Alhadrawi,
  • Raghavendra Rao P S,
  • Abinash Mahapatro,
  • Karthikeyan A,
  • Harjot Singh Gill,
  • Yashwant Singh Bisht

摘要

This paper presents a novel fault-tolerant control (FTC) architecture for a three‑engine tiltrotor UAV, addressing the critical challenges of nonlinear, strongly coupled dynamics during vertical take‑off, transition, and cruise flight modes under simultaneous actuator faults and external disturbances. The primary innovation lies in the integration of an improved second‑order sliding‑mode controller with nonlinear coefficient tuning and a dual‑stage Kalman estimator. Unlike conventional FTC methods that either assume known fault statistics or treat faults as additional state variables—thereby increasing computational burden—the proposed estimator decouples state and fault estimation into two separate stages. This separation not only reduces computational load by approximately 30% but also enables robust fault reconstruction without prior knowledge of fault statistics, a significant advancement for practical deployment where fault characteristics are often unknown. The controller design further innovates by decomposing the system into fully‑excited and under‑excited subsystems, allowing for subsystem‑specific equilibrium‑based gain adaptation that enhances robustness against torque asymmetry and minimizes control effort. Numerical simulations under multiple fault scenarios demonstrate that the proposed method outperforms benchmark approaches [22, 25] with quantifiable improvements: a 40% reduction in maximum tracking error, 35% faster fault‑recovery time, and a 26% increase in path‑tracking accuracy.