针对一类具有执行器卡死或/和变执行器故障的多输入单输出(MISO)非线性最小相位系统,提出一种自适应容错跟踪控制方案.采用自适应算法估计系统的不确定性,利用神经网络逼近执行器未知故障函数,以完成执行器组合故障状态下的跟踪控制.所设计的控制律不仅保证了闭环系统稳定,而且所有状态均有界,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. Aiming at a kind of MISO nonlinear minimum phase system with actuator stuck-up or / and variable actuator failure, an adaptive fault-tolerant tracking control scheme is proposed.Using adaptive algorithm to estimate the system uncertainty, The unknown fault function of actuator is approximated by neural network to complete the tracking control under the combined fault condition of the actuator.The designed control law not only guarantees the stability of the closed-loop system but also has all states bounding and the tracking error consistent and finally bounded. The effectiveness of the proposed method is demonstrated.