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中文摘要：
针对一类具有执行器卡死或，和变执行器故障的多输入多输出（MIMO）非线性最小相位系统提出了自适应容错跟踪控制方案．结合系统特征对系统执行器进行分类，用神经网络逼近执行器未知故障函数，采用模型参考自适应容错控制方法设计控制律．所设计的控制律不仅保证闭环系统稳定，而且跟踪误差一致最终有界．仿真结果表明了所提出方法的有效性．
英文摘要：
An adaptive fault-tolerant tracking-control scheme is proposed for a class of multi-input multi-output （MIMO） minimum-phase systems with actuators lock-in-space or/and variant actuator failures. The actuators are classified according to the characteristics of the systems; and neural networks are used to approximate unknown failure-functions of actuators. The model-reference-adaptive fault-tolerant control method is used to design the control law. This control law guarantees the closed-loop systems to be stable and the tracking-errors to be uniformly ultimately bounded. Simulation results show the effectiveness of the proposed method.
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