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采用余度部件分担控制任务的控制策略，应用线性二次型的微分对策理论求得具有稳定和性能鲁棒性的控制器，从而保证控制器对余度执行机构的失效或故障不敏感，实现自动排除故障和优美降级性能。仿真结果表明鲁棒控制器的有效性
Adopting the control strategy of redundancy component to share control task, a controller with stability and performance robustness is obtained by using the linear quadratic differential game theory to ensure that the controller is insensitive to the failure or failure of redundancy actuator. Automatically troubleshoot and gracefully downgrade. Simulation results show the effectiveness of robust controllers