Abstract: It considered the actuator fault tolerant control and accommodation problem for a class of inherent nonlinear system with unknown time-varying virtual control coefficients, uncertain time-varying nonlinear parameters and uncontrollable unstable linearization, by employing the homogeneous system theory and the adding a power integrator design.The actuator fault was accommodated by an adaptive controller based backstepping approach, so as to ensure identical (stabilizable) behaviour of the healthy of the faulty system. Simulation results of a numerical example demonstrate good performance of the proposed approach .

Key words: Backstepping control, Fault-tolerant control, Unstabilize/undetectable linearization, Adaptive control

摘要： 针对一类含有不确定时变非线性参数和具有不可控/不可镇定线性化的强非线性系统，考虑了相应系统的容错控制问题。应用齐次非线性系统理论和加入广义积分器的反推控制方法，设计了一种鲁棒自适应状态反馈控制器。对于相应的故障，该控制器能够很好地加以调节，并同样保证闭环系统的稳定特性。仿真结果证明了这一控制策略的有效性和可行性。

关键词: 反推控制, 容错控制, 不可控/不可镇定线性化, 自适应控制