47 results about "Fault tolerant controller" patented technology

This invention discloses a distributed adaptive fault-tolerant control method and system for nonlinear inline systems, relating to the field of distributed control technology for nonlinear inline systems. The method includes: for each subsystem in the nonlinear inline system, constructing the actual output of each actuator in the subsystem based on the fault type of the actuator; the nonlinear inline system includes several subsystems; for each subsystem, constructing a local objective function, an error optimizer, an auxiliary system, high-gain parameters, and a control law, and generating an optimal error trajectory based on the local objective function and the error optimizer. At the upper level, this invention designs an error optimizer to generate the optimal error trajectory based on a local objective function that converges to zero; at the lower level, it designs a trajectory tracking fault-tolerant controller with the help of an auxiliary system, employing a dynamic high-gain approach to adaptively handle the effects of uncertain parameters, actuator faults, and unknown strong inline coupling.

The invention discloses an uncontrollable high-thrust fault-tolerant control method based on volume Kalman filtering. The method comprises the following steps: receiving a fuel flow instruction and a real-time state signal; based on the fuel oil flow instruction, a PID controller is combined with fuel oil metering valve position feedback, and a fuel oil metering valve is driven to execute conventional fuel oil flow control; based on the real-time state signal, estimating the thrust of the aero-engine in real time by adopting a volume Kalman filtering algorithm to obtain a thrust estimation value; comparing the thrust estimation value with a preset thrust threshold value, and judging whether an uncontrollable high-thrust event occurs or not when a preset flight state condition is met; if the uncontrollable high-thrust event does not occur, conventional fuel flow control is executed; and if the uncontrollable high thrust event occurs, the PID controller is switched to the fault-tolerant controller, and the TCMA servo valve and the shut-off valve are controlled and driven to realize fault-tolerant control of the fuel flow. According to the invention, the robustness and reliability of the engine in a working environment can be ensured.

The invention discloses a dynamic event triggering preset time fault-tolerant control method considering a non-affine fault. The method comprises the following steps: carrying out online approximation on an unknown nonlinear term in a dynamic decoupling model by adopting a fuzzy logic system to obtain an optimized system model; constructing a segmented preset time performance function, and introducing an instruction filter based on a dynamic surface control technology to process a virtual control signal of the constructed adaptive virtual control law so as to obtain a filtering error; constructing a dynamic signal compensation mechanism based on the filtering error in combination with a sectional preset time performance function, and obtaining a compensated final tracking error; and constructing a dynamic event triggering mechanism to obtain a final fault-tolerant controller, and realizing dynamic event triggering preset time fault-tolerant control considering the non-affine fault according to the final fault-tolerant controller. According to the method, the technical problems of uncontrollability of convergence time, influence of actuator faults and nonlinearity on control performance and limitation of communication and computing resources in the existing method are solved.

The invention discloses a flexible building system vibration control method with output constraints and complex faults, and belongs to the field of flexible building system vibration control, and the method comprises the steps: obtaining a flexible building system model, and carrying out the dynamic analysis of the flexible building system model, and obtaining a dynamic analysis data result of the flexible building system; establishing a flexible building system dynamic model through the Hamiltonian principle according to the flexible building system dynamic analysis data result; sequentially carrying out finite dimension processing on the flexible building system dynamic model through a hypothesis modal method and processing a fault part by adopting a median theorem to obtain a simplified flexible building system dynamic model; and executing an event trigger control strategy of a relative threshold strategy on the simplified flexible building system dynamic model to obtain a controller of the flexible building system and an updating law of the controller, and applying the controller of the flexible building system to vibration control of the flexible building system. According to the flexible building system vibration control method with output constraints and complex faults, a fault-tolerant controller based on event triggering is designed for the vibration suppression problem of a nonlinear infinite-dimensional high-rise building. Compared with traditional time triggering, the control method is established on the basis of event triggering based on a relative threshold strategy, the defect of waste of transmission resources is effectively overcome, and sesame behaviors can be avoided.

The application discloses a design method of a fractional order nonlinear system fuzzy fault-tolerant controller for a flexible mechanical arm, and comprises the following steps: constructing a fractional order nonlinear system with external disturbance and actuator fault; estimating a nonlinear part in the fractional order nonlinear system based on a fuzzy logic system; defining a coordinate transformation related to a tracking error; and designing a finite time adaptive fuzzy fault-tolerant controller by combining a fractional order dynamic surface control method with a backstepping method. According to the application, the output of the fractional order nonlinear system can track a reference signal in a finite time, and all signals in the closed loop system are also bounded in the finite time. Finally, the controller is applied to a flexible mechanical arm system.

The application discloses an unmanned ship power positioning integral sliding mode fault-tolerant control method based on a fuzzy system, and comprises the following steps: a mathematical model of unmanned ship movement under an actuator fault is established; a T-S fuzzy model of the unmanned ship corresponding to the mathematical model is established; based on the established T-S fuzzy model of the unmanned ship, an integral sliding mode surface with fault information is constructed; and the asymptotic stability of the sliding mode dynamics of the system is proved by combining the definition of performance index and related lemmas.Aiming at the nonlinear term in the T-S fuzzy model of the unmanned ship, a fuzzy logic method is used to approximate the unknown smooth nonlinear term; based on the constructed integral sliding mode surface with fault information, a suitable Lyapunov function is selected, a fault-tolerant controller and an adaptive law are designed, and the reachability of the system is proved.The application can solve the problem that the resolution and complexity of the T-S model of the unmanned ship are difficult to balance, and can also ensure that the system has robustness from the initial stage.

The application discloses a kind of high-precision indirect signal reconstruction-based wheeled robot system fault-tolerant control method.This method under the interference of external noise, establishes the wheeled robot system containing unknown system state and actuator fault, gives its system output function, constructs indirect variable based on unknown system state and actuator fault, obtains estimation error system.In addition, a distributed fault-tolerant controller containing estimated state and fault is designed to act on the continuous time of system, to ensure that estimation error system is uniformly ultimately bounded, to realize the synchronization of error system.

The application discloses a tracking control method for a multi-degree-of-freedom man-machine cooperation coupling system, relates to the field of multi-degree-of-freedom man-machine cooperation coupling system control, and comprises the following steps: a dynamic model of the multi-degree-of-freedom man-machine cooperation coupling system including actuator faults is established; a state space model is established based on the dynamic model; based on the state space model and a preset expected trajectory of the multi-degree-of-freedom man-machine cooperation coupling system, a tracking error of the multi-degree-of-freedom man-machine cooperation coupling system is obtained; a specified time preset performance function is designed, and a fault-tolerant controller of the multi-degree-of-freedom man-machine cooperation coupling system is established; and based on the tracking error, the multi-degree-of-freedom man-machine cooperation coupling system is controlled through the fault-tolerant controller, so that the tracking error of the multi-degree-of-freedom man-machine cooperation coupling system converges within the specified time, and the controllability and accuracy of the multi-degree-of-freedom man-machine cooperation coupling system are improved.

The invention provides a control system and a fault-tolerant control method of an electromagnetic bearing, the electromagnetic bearing comprises a radial bearing, an axial bearing, a protective bearing and a sensor, and the control system of the electromagnetic bearing generates electromagnetic force through an actuator comprising a power amplifier and an electromagnetic stator. A rotor is in a rotor suspension state and has four degrees of freedom in the radial direction and one degree of freedom in the axial direction, and a polynomial fault diagnosis observer of a control system executes an adaptive fault estimation algorithm to estimate the coil current loss degree caused by an electromagnetic stator fault. The fault-tolerant controller is used for maintaining the stability and the reliability of the electromagnetic bearing under the abnormal working condition of the electromagnetic conversion link of the actuator; the dynamic quality of the magnetic bearing is optimized, the rotor suspension response is faster, the position tracking precision is improved, and meanwhile, the risks of collision, falling and the like of the rotor and the protection bearing can be avoided under the stator fault working condition.

The application discloses a kind of unmanned helicopter formation fault-tolerant methods under time-varying topology based on all-drive system method, including steps as follows: first, establish the high-order all-drive system model of unmanned helicopter, and divide into position outer loop subsystem and attitude inner loop subsystem;For the composite disturbance of unmanned helicopter actuator failure, external disturbance, design decentralized preset time composite disturbance observer to realize real-time accurate estimation of composite disturbance within preset time and be used for the design of controller;Based on all-drive system theory, preset time formation fault-tolerant controller and attitude tracking fault-tolerant controller are designed for the inner and outer loops of unmanned helicopter.The controller is designed according to all-drive system theory and preset time control method, so that the formation tracking error can reach stable convergence within a predetermined time, improve the maneuvering response speed of unmanned helicopter, and at the same time ensure the stability of multi-unmanned helicopter system under time-varying topology and fault conditions.

The application provides a rocket sub-stage wing parachute recovery attitude fault-tolerant control method, so as to compensate for the interference torque caused by the actuator failure and unknown disturbance, realize attitude fault-tolerant control, construct a combination body actuator failure model based on a wing parachute-sub-stage combination body kinematics model; a sliding mode disturbance observer is designed to estimate the lumped interference torque caused by the actuator failure and unknown disturbance; a finite time preset performance backstepping sliding mode attitude fault-tolerant controller is designed based on preset performance theory and backstepping sliding mode control. The application estimates the lumped interference torque by using the sliding mode disturbance observer, combines preset performance control and backstepping sliding mode control, designs a finite time attitude fault-tolerant controller, and realizes accurate control of the attitude of the wing parachute-sub-stage combination body under the influence of the actuator failure and uncertain disturbance.

The application particularly relates to an active fault-tolerant control and optimization method of an aviation fuel regulating pump test equipment, fault estimation information obtained based on a linear variable parameter adaptive sliding mode observer is used for linear variable parameter active fault-tolerant controller design by adopting adaptive sliding mode control technology and an adaptive radial basis function neural network, an adaptive gain variation law and an adaptive RBF algorithm weight adaptive updating law are designed, unknown disturbance is more accurately fitted, the control performance of the sliding mode fault-tolerant controller is improved, and the performance of the active fault-tolerant controller of the aviation fuel regulating pump test equipment is optimized and improved.

The invention discloses a fixed time increment fault-tolerant control method for a control surface mixed fault aircraft. The method comprises the following steps: analyzing the fault type and performance of an aircraft control surface; modeling a control surface fault aircraft; improving the design of a tracking differentiator; designing an incremental dynamic inverse control law; and designing a fixed time increment dynamic inverse fault-tolerant controller. The control method provided by the embodiment of the invention is low in cost and simple in structure, can realize accurate acquisition of the angular acceleration signal and noise filtering, reduces hardware consumption of the angular acceleration sensor, and has a practical engineering application prospect; the robustness is high, and stable control and instruction tracking of the aircraft under the control surface mixed fault can be achieved; the method is high in convergence speed and good in steady-state performance, can guarantee that the faulty aircraft quickly recovers to be stable in a fixed time and accurately tracks the instruction, and effectively improves the flight performance of the faulty aircraft.

This application provides a method and apparatus for frequency-tolerant control of a specified performance load in a multi-regional power system. The method includes: establishing a system model of the multi-regional power system; obtaining specified performance indicators for frequency deviation for each control area; converting the specified performance indicators into auxiliary variables through mathematical transformation; constructing a stability function for the multi-regional power system and performing stability analysis to obtain a set of linear matrix inequalities concerning the controller gain matrix of each control area; wherein the stability function is configured to satisfy the convergence of system state variables; and the frequency deviation satisfies the specified performance indicators and the system's H under non-zero initial conditions. ∞ The norm is less than the preset performance index; by solving a system of linear matrix inequalities, the controller gain matrix of each control region is obtained to construct the fault-tolerant controller corresponding to each control region for load frequency control. This application provides a load frequency control scheme for multi-region power systems that balances robustness, fault tolerance, and dynamic quality.

This invention relates to a fault-tolerant control method for aero-engine actuators based on member estimation and Tube MPC, belonging to the field of fault-tolerant control for aero-engine systems. First, an augmented state observer is designed to simultaneously estimate the state and actuator faults; then, using H... ∞ The observer gain and state feedback gain are obtained using the LQR method, respectively, making the estimation and control errors robust to disturbances and noise. Furthermore, fault membership is estimated through centrosymmetric polyhedral analysis. Then, a fault-tolerant controller is designed based on the obtained observer gain, state feedback gain, and Tube MPC method. The fault-tolerant control method designed in this invention enables the controller to be robust to unknown disturbances and measurement noise, and, based on the Tube MPC method, ensures that the state strictly meets the control constraints of the aero-engine while compensating for actuator faults.

The application discloses a kind of four-rotor unmanned aerial vehicle cluster anti-interference and fault-tolerant control methods, belong to unmanned aerial vehicle control technical field;The application includes: the four-rotor unmanned aerial vehicle cluster dynamics model including unconstrained interference (including unbounded interference) and multiple faults is established;Augmented system enhances the representation ability of system to compound uncertainty;Distributed unknown input observer is constructed, and four-rotor unmanned aerial vehicle state, sensor fault and unconstrained collective interference are observed simultaneously;Four-rotor unmanned aerial vehicle cluster anti-interference and fault-tolerant controller is constructed;The application can realize four-rotor unmanned aerial vehicle cluster in multiple faults concurrent, unbounded disturbance coupling, keep good fault estimation accuracy, disturbance suppression capacity and collaborative control performance, enhance the flight safety and task reliability of four-rotor unmanned aerial vehicle cluster in complex environment.

This invention belongs to the field of motion control systems and relates to a state perception and fault-tolerant control method for motion control systems under sensor failure. The method includes: representing the dynamic characteristics of the motion control system under sensor failure using a disturbed second-order system model; constructing a state-space control model of the motion control system; correcting distorted state feedback signals using a state feedback self-corrector; estimating the lumped disturbance of the system model using an improved fuzzy approximator based on an adaptive update rate to obtain lumped disturbance observations; estimating the state variables of the motion control system using a self-correcting state observer to obtain state observations; and designing a state feedback fault-tolerant controller using the state observations and lumped disturbance observations. This invention effectively solves the key problem of feedback signal distortion in motion control systems under sensor failure scenarios, and has advantages such as accurate estimation of unmodeled disturbances, good feedback signal correction effect, and accurate system state estimation.

The application discloses a kind of unmanned plane trajectory fault-tolerant control methods and systems for actuator failure, belong to unmanned plane control technical field, including under the condition of nonlinear interference and model uncertainty, obtain unmanned plane nonlinear fault model;Actuator failure model is constructed under the condition of unmanned plane motor efficiency loss, and unmanned plane nonlinear fault model is simplified based on actuator failure model;Based on the simplified unmanned plane nonlinear fault model, construct nonlinear fault diagnosis observer to diagnose actuator failure;Based on nonlinear fault diagnosis observer, construct nonlinear adaptive fault estimator to estimate the parameters of actuator failure;Based on the diagnosed actuator failure and parameter, design fault-tolerant controller;Based on fault-tolerant controller, modify motor control command, control the flight trajectory of unmanned plane.The application reduces the risk that actuator failure leads to the flight performance of unmanned plane deteriorates or even crashes, improves the reliability and safety of unmanned plane.

The invention discloses an electrically operated valve wireless fault-tolerant controller and a control method, a fault-tolerant algorithm is integrated in the controller, so that the controller can intelligently judge and output correct control signals, misoperation is effectively avoided, the accuracy and reliability of electrically operated valve control are improved, and transmission and control of oil well alternate metering signals are realized. The field test electric valve can be executed according to operation, and repeated operation instructions in a short time can be selectively executed once. And compared with a traditional control cable wired input signal, the method has the characteristics of good stability and low cost for refusing execution of mutually contradictory instructions in a short time.

The application discloses a rope-driven flexible robot based on neural network adaptive backstepping fault-tolerant control method, comprising the following steps: S1, obtaining a dynamic model and giving a desired reference trajectory; S2, introducing a quaternion to eliminate error and obtaining tracking error of a robot working end; S3, designing a backstepping fault-tolerant control law, according to a robot model and a control target of trajectory tracking, designing a control law of a robot trajectory tracking controller and determining control parameters; S4, introducing an RBF neural network model to approximate unknown quantities which are difficult to directly obtain in the control law; S5, analyzing stability and convergence of the backstepping fault-tolerant system, adjusting control parameters of the controller and outputting trajectory tracking results. The application designs an RBF neural network adaptive backstepping fault-tolerant controller for a rope-driven flexible continuous robot, on the basis of guaranteeing stable tracking of the system by using the backstepping control scheme, a fault-tolerant control scheme is added, so that safety of the robot is ensured when a fault occurs in an actuator.

This invention discloses a fault-tolerant control method and system for connected vehicles based on automatic switching of ranging sensors, belonging to the field of intelligent transportation and vehicle control technology. The method includes: establishing a coupled nonlinear dynamic model of the connected vehicle; performing filtering based on a Butterworth low-pass filter; constructing lumped ranging sensor operating modes including desired and undesired modes; establishing automatic switching logic based on correlation entropy; pre-deploying the displacement output performance of the connected vehicle system based on displacement residual transformation technology and performance index functions; constructing an unknown control gain boundary identifier to adaptively identify the lower bound of the unknown gain; and designing a fault-tolerant controller for the connected vehicle based on the transformed displacement residual dynamic model and the lower bound identification information to quickly suppress the continuous performance degradation caused by the switching of ranging sensor operating modes. This invention enhances the fault tolerance capability of the connected vehicle control system under complex operating conditions and ensures the stable operation of connected vehicle platooning control.

The application relates to a fault-tolerant control system and method for improving the driving safety of a heavy multi-axle steering vehicle, which comprises a fault diagnosis module for receiving wheel angle information of the vehicle output and judging whether the steering wheel is stuck; an upper control module for calculating additional lateral force and additional yaw moment required for maintaining the stability of the vehicle by using an adaptive sliding mode control algorithm when the steering wheel is stuck; a lower control module for optimizing the distribution of tire lateral force of non-fault wheels according to the additional force and moment obtained by the upper control module; and a fault-tolerant control module for solving a fault-tolerant feasible region of tire force after the fault occurs, judging whether the optimized tire lateral force is within the range of the fault-tolerant feasible region, and selecting the optimal fault-tolerant controller for different failure modes to perform fault-tolerant control on the fault vehicle according to the judgment result. The system and method are favorable for improving the trajectory tracking accuracy and yaw stability of the heavy multi-axle vehicle when the steering wheel is stuck.

The invention provides a welding robot tracking method and system with self-adaptive fault-tolerant capability. The method belongs to the field of welding robots and comprises the following steps: establishing a welding robot dynamic model considering actuator faults; deriving a state-space equation according to the welding robot kinetic model, and defining a tracking error between an actual trajectory of the welding robot and a preset expected trajectory based on the state-space equation; designing a preset performance function; constructing a conversion error based on the tracking error and a preset performance function, and designing a preset time terminal sliding mode surface; and according to the preset time terminal sliding mode surface, the known modeling part, the multiplicative factor lower bound, the additive fault upper bound and the inertia matrix upper bound, the Coriolis force matrix upper bound and the gravity matrix upper bound of the unknown modeling part in the welding robot dynamic model, a fault-tolerant controller is constructed. The trajectory tracking precision of the welding robot can be improved.

The application provides a horizontal flight direction fault-tolerant control and reconstruction method for an aircraft under rudder surface failure, designs a horizontal flight direction fault-tolerant controller, calculates an optimal control law through a nominal model of the aircraft and a rudder surface failure model, and stabilizes the aircraft under external disturbance. Then, a quadruple neural network is used to estimate the optimal control law for all possible failure degrees. When the rudder surface failure occurs, the aircraft can be stably operated. The application provides a horizontal flight direction fault-tolerant control and reconstruction system for an aircraft under rudder surface failure, which is not limited in generality, based on a fault detection and isolation module, a switching mechanism and a flight control system, introduces a horizontal flight direction fault-tolerant controller, and stabilizes the aircraft under external disturbance.

This invention discloses a fault-tolerant controller design method for a quadrotor unmanned aerial vehicle (UAV), relating to the field of quadrotor UAV control technology. The method includes: establishing a state-space equation; designing a state observer based on an interval-type II fuzzy logic system, and calculating the observation error between unmeasurable states and state observations; decomposing the attitude and position subsystems of the quadrotor UAV into two-order subsystems; and designing a virtual controller α for the first-order subsystem. i,1 For the second-order subsystem, a predetermined-time filter and an adaptive predetermined-time fault-tolerant controller τ based on hybrid event triggering are designed. i (t) Parameter update law and parameter update law The fault-tolerant controller designed in this invention can ensure that the actual predetermined time of the quadcopter UAV closed-loop system is stable, and the minimum upper bound of the system stability time can be determined by a controller gain, realizing the quadcopter UAV accurately tracking the reference trajectory under the conditions of only measurable output signal, saturated input and actuator failure.

This invention discloses an adaptive boundary constraint fault-tolerant control method and system for multiple flexible Timoshenko manipulators, belonging to the field of flexible manipulator control technology. The method includes: establishing a dynamic model incorporating elastic vibration, shear vibration, and hub angular motion; constructing a virtual leader to provide the desired trajectory; establishing an intermittent fault model for the end effector and hub actuators; approximating the unknown functions of the system using a neural network; defining boundary state variables and boundary constraints; designing a boundary fault-tolerant controller that integrates fault compensation, adaptive approximation, and constraint satisfaction; and using a projection operator to ensure bounded parameter estimation and online updates. This invention can achieve consistent angular position tracking of multiple manipulators under conditions of intermittent actuator failure, model uncertainty, and constrained states, effectively suppressing elastic and shear vibrations, ensuring that boundary states do not exceed limits, and improving system robustness, safety, and engineering practicality. It is applicable to fields such as precision manufacturing, medical, and aerospace.

The invention discloses a spacecraft all-drive attitude fault-tolerant control method and device considering disturbance, and relates to the technical field of spacecrafts, and the method comprises the steps: building an attitude control mathematical model based on an attitude kinematics and dynamics model, a corrected Rodrigues parameter and a rotational inertia matrix; the dynamic uncertainty, the external disturbance and the spacecraft fault are combined into a lumped disturbance term, a system model containing an attitude variable and the lumped disturbance term is established, an extended state observer is constructed by presetting a main controller and a virtual controller, a measurable state is processed by using a time scale function, the state variable and the lumped disturbance are estimated, and the state variable and the lumped disturbance are estimated. And designing an attitude fault-tolerant controller comprising a virtual control law, a sliding mode surface and a main control law based on the estimated value, the state error and a system model, wherein the virtual control law ensures attitude variable convergence, the sliding mode surface defines state tracking deviation, the main control law drives the sliding mode surface to converge, and the controller generates a control instruction to control the attitude of the spacecraft. Therefore, the attitude control efficiency of the spacecraft is improved.

A nonlinear compensation fault-tolerant control method for a water tank level system with time-delay characteristics belongs to the field of advanced industrial process control. The method includes the following steps: Step 1: Establishing a state-space model of the water tank level control system with uncertainties, time-varying time delays, partial actuator failures, and high-order nonlinear components; Step 2: Designing a robust fault-tolerant controller for the time-delay system; Step 3: Designing a dynamic compensation fault-tolerant controller for the previous time step that was not modeled; Step 4: Designing a dynamic incremental compensation fault-tolerant controller that was not modeled. This method proposes a novel solution for water tank level control with time-varying time delays, parameter uncertainties, partial actuator failures, and strong nonlinearity. It integrates data-driven approaches, signal compensation, and the one-step optimal principle to minimize system tracking errors and enable the output to better track the setpoint.

The application discloses a five-phase permanent magnet speed regulation control method and system for a monorail crane, belongs to the technical field of monorail cranes, and collects multi-source operation state information of a five-phase motor to construct a multi-axis state topology graph based on a graph neural network; on the basis, a graph time sequence prediction model is established to predict a future disturbance trend and generate state prior information; optimal control strategy selection and priority adaptive switching are performed according to the prior information; control vector redundancy reconstruction is performed under a fault condition; and a generalized hyper-surface regulator is embedded in a sliding mode fault-tolerant controller, and the control gain is dynamically corrected in combination with a coupling strength coefficient; the method has the advantages of strong adaptability, high fault tolerance and high speed regulation precision, and is suitable for a permanent magnet motor control system under complex working conditions such as a coal mine monorail crane.

A flexible spacecraft attitude active fault-tolerant control method without angular velocity measurement is proposed to solve the problems of actuator faults, flexible appendage vibrations and external disturbances in the process of spacecraft on-orbit attitude maneuver. The method considers the actuator faults, space environment external disturbances and flexible appendage vibrations, establishes the spacecraft attitude kinematics and dynamics model, designs the fixed-time sliding mode observer based on cosine sliding mode function and the flexible vibration observer, uses the estimation results of the two types of observers to rewrite the dynamics model equivalently, and designs the adaptive learning observer to estimate the comprehensive uncertainty caused by actuator faults, angular velocity estimation error, flexible vibration estimation error and external disturbances. Finally, the specified time fault-tolerant controller is designed according to the estimated value of the comprehensive uncertainty. The method has strong fault-tolerant ability, good flexible vibration suppression performance and robustness to external disturbances.