针对存在模型参数不确定性的可重构机械臂系统执行器故障,提出一种基于反演设计与时延技术相结合的容错控制方法.该方法利用反演设计的基本思想,通过神经网络补偿子系统动力学模型中的参数不确定项和关联项.利用时延控制的逼近能力来补偿执行器的故障,使得故障发生时能及时实现容错控制.该方法具有不需要在线进行故障诊断的特点,仿真结果表明了所提出控制方法的有效性. Aiming at fault of reconfigurable manipulator system actuator with uncertainties of model parameters, a fault-tolerant control method based on inverse design and delay technique is proposed.This method uses the basic idea of ​​inverse design to compensate The uncertainty of the parameters in the subsystem dynamics model and the related items, the use of the approximation ability of the delay control to compensate the fault of the actuator so that fault-tolerant control can be realized timely when the fault occurs.This method has the characteristics of not requiring online fault diagnosis The simulation results show the effectiveness of the proposed control method.