WITHDRAWN: Design and Control of a Three-Rotor Aircraft with Improved Safety Features

This paper proposes a novel design scheme for a three-rotor unmanned aerial vehicle (UAV). The aircraft is equipped with a main shaft double rotor and two auxiliary ro- tors, and the main shaft double rotor can obtain additional degrees of freedom through tilt.This configuration enables vertical take-off and landing (VTOL) capabilities com- parable to those of a quadcopter, while offering improved efficiency in horizontal flight. Furthermore, the innovative rotor arrangement enhances safety by providing redun- dancy; in the event of a rotor failure, the aircraft can maintain stability and perform a controlled landing. A control strategy is developed for this platform, and its effec- tiveness is validated through simulation results.