中文摘要：

对于一类具有执行器故障的多输入多输出非线性最小相位系统设计了自适应补偿控制律．考虑系统的执行器卡死和部分失效故障，在微分几何反馈线性化的基础上，设计了基于PPB（prescribed performance bound）方法和反演控制的自适应补偿跟踪控制律．设计的控制律能够保证系统在执行器故障时闭环稳定，渐近跟踪给定的参考信号，而且具有确定的动态性能．仿真结果表明了本文设计方法的有效性．

英文摘要：

An adaptive compensation control law is designed for a class of multi-input-multi-output nonlinear mini- mum phase systems with actuator failures. Based on the differential geometry feedback linearization method, prescribed performance bound, and backstepping technique, an adaptive compensation tracking-control scheme is designed for systems with actuators lock in space and loss-of-effectiveness failure. The proposed control law can guarantee that a closed-loop system with actuator failure stably and asymptotically tracks the given reference signals, and system transient performance is satisfactory. The simulation results demonstrate the effectiveness of the proposed method.