Fig 1

Schematics and motivation of tail-sitter aircraft"

Fig 2

$ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ adaptive controller "

Fig 3

Fault tolerance of tail-sitter aircraft by $ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ adaptive control "

Fig 4

Reference trajectory"

Table 1

Trajectory coefficients"

Fig 5

Position responses by H∞ controller in the state of free-fault "

Fig 6

Position error responses by H∞ controller in the state of free-fault "

Fig 7

Attitude responses by H∞ controller in the state of free-fault "

Fig 8

Control signal responses by H∞ controller in the state of free-fault "

Fig 9

Attack angle responses by H∞ controller in the state of free-fault "

Fig 10

Trajectory comparison of reference trajectory, H∞ controller trajectory and $ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ adaptive controller trajectory in the state of fault tolerance "

Fig 11

Position error response by $ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ adaptive controller in the state of fault tolerance "

Fig 12

Euler angles of the results of $ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ adaptive controller in the state of fault tolerance "

Fig 13

Control signal responses by $ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ controller in the state of fault tolerance "

Fig 14

Attack angles responses by $ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ controller in the state of fault tolerance "

Fig 15

Estimated uncertainties response by $ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ controller in the state of fault tolerance "

Fig 16

Estimated uncertainties response by $ {\cal{{\boldsymbol{L}}}}_{\bf{1}}$ controller in the state of fault tolerance "

Fig 17

Position error response by H∞ controller in the state of fault tolerance "

Fig 18

Attitude responses by H∞ controller in the state of fault tolerance "

Fig 19

Control signal responses by H∞ controller in the state of fault tolerance "

Fig 20

Attack angles response by H∞ controller in the state of fault tolerance "