针对可重构模块机器人的执行器故障,提出一种基于自适应模糊系统的分散被动容错控制方法.该方法不需要机器人动力学模型与模块之间的信息交换,模块控制器分别采用间接和直接自适应方法设计,自适应参数的更新律基于Lyapunov稳定性理论设计,保证了系统的稳定性和H∞跟踪性能.数值仿真结果表明了所提出方法的有效性. Aiming at the actuator failure of reconfigurable module robot, a decentralized passive fault-tolerant control method based on adaptive fuzzy system is proposed, which does not need the information exchange between the robot dynamic model and the module. The module controller adopts indirect and direct Adaptive method design and adaptive parameter updating law are based on Lyapunov stability theory to ensure the system stability and H∞ tracking performance.The numerical simulation results show the effectiveness of the proposed method.