Abstract： To solve the problem that the uncertain actuator failures occurred in automobile driving robots could not drive the mechanical leg to work normally and could affect the safety of automobile during driving, an adaptive faulttolerant control method was proposed. The basic feedback controller was designed based on Backstepping to ensure the desired performance of the mechanical leg, and the failure compensation controllers were designed according to each failure case. By defining the failure indication function, the multiple controllers were combined based on weight fusion algorithm to form a comprehensive controller. Based on the adaptive method, the parameters of the integrated controller were updated. The feasibility and performance of the proposed control strategy were validated by the numerical simulation results. The results show that the proposed control method can ensure the stable control system and can asymptotically track the given control signal when one uncertain failure occurs.
