Fault-tolerant control method for unknown model of rotary steering drilling tool

The invention provides a fault-tolerant control method for an unknown model of a rotary steering drilling tool. The fault-tolerant control method specifically comprises the following steps: S1, acquiring an unknown non-affine all-wheel-drive system model of the rotary steering drilling tool; s2, establishing an augmented system dynamics model of the non-affine all-wheel-drive system; and S3, designing a robust fault-tolerant controller based on the augmented system observer. According to the technical scheme, the problems that in the prior art, a fault-tolerant controller has high dependence on a system model and has weak robustness on time-varying gain faults of an actuator and a sensor are solved. 本发明提供了一种旋转导向钻井工具未知模型的容错控制方法，具体包括如下步骤：S1，获取旋转导向钻井工具的未知非仿射全驱系统模型；S2，建立非仿射全驱系统的一个增广系统动力学模型；S3，设计基于增广系统观测器的鲁棒容错控制器。本发明的技术方案克服现有技术中的容错控制器对系统模型的依赖性较高，对执行器和传感器的时变增益故障有较弱的鲁棒性的问题。