文中先给出在正常情况下水下机器人的解耦控制器及推力分配，然后给出了在推力器出现故障时的容错控制策略。
A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given.
模型组解偶联蛋白2蛋白表达随脂肪肝程度的加重，其表达逐渐增强，而正常对照组几乎阴性表达。
The expression of UCP-2 enhanced gradually with the exacerbation of fatty liver in the model group, while it was negative in the normal control group.
通过在线重新设置解耦矩阵，能保证在一个或几个驱动器失效时，闭合回路仍能继续正常工作。
By reconfiguring the decoupling matrix, closed - loop system operation can be maintained should one or several actuators fail.
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