Hovercraft actuator fault processing method based on virtual actuator

The invention discloses a hovercraft actuator fault processing method based on a virtual actuator. The method includes the following steps that firstly, position and heading information of a hovercraft are collected through a sensor; secondly, the deviation between the current position collected by the sensor and an expected position is obtained, and a nominal control signal is obtained through a robust self-adaptation sliding mode control method and transmitted to the actuator; thirdly, fault diagnosis is carried out on the actuator, if the actuator does not break down, the actuator responds to a nominal control instruction, if the actuator breaks down, the nominal control signal is reconstructed through the virtual actuator, and a reconstructed control signal is obtained and transmitted to the current actuator. The influences of uncertainty are eliminated due to the fact that sliding mode control has the characteristic of robustness. Meanwhile, the method has the advantage that the virtual actuator does not change the structure and parameters of a nominal controller, and safety performance and work capacity of the hovercraft are effectively improved after the actuator breaks down.