针对航天器目标-攻击者-防御者三方博弈中攻击意图未知且防御航天器存在执行器故障的问题，提出一种融合自适应估计与微分博弈的协同容错控制方法，实现对目标的高效保护。考虑目标沿任意轨迹运动及目标主动逃逸两种典型场景，首先利用自适应估计理论设计故障估计律，在线辨识防御航天器的执行器故障。在此基础上，针对不同场景分别构造复合学习律，在线学习并预测攻击航天器的控制增益矩阵，进而量身定制防御航天器的最优容错控制策略。该策略只需满足区间激励条件，无需持续激励，降低计算负担，节省星上资源。理论分析表明，所设计的三方博弈策略达到-纳什均衡，实现在估计误差影响下的近似均衡性。最后，通过仿真结果验证所设计的容错博弈方法能有效预判攻击航天器的意图并实施拦截，从而保护目标航天器。

To address the issues of unknown attack intent and actuator faults in the defender spacecraft within a target-attacker-defender three-party game, this paper proposes a cooperative fault-tolerant control method that integrates adaptive estimation and differential game theory to achieve efficient protection of the target. Two typical scenarios are considered: the target moving along an arbitrary trajectory and the target actively evading. First, an adaptive estimation law is designed using adaptive estimation theory to online identify actuator faults in the defender spacecraft. On this basis, composite learning laws are constructed for the two scenarios to enable the defender spacecraft to learn and predict the control gain matrix of the attacker online, and subsequently tailor the optimal fault-tolerant control strategy for the defender. The proposed strategy only requires interval excitation condition rather than persistent excitation, thereby reducing computational burden and saving onboard resources. Theoretical analysis shows that the designed three-party game strategy achieves an -Nash equilibrium, ensuring approximate equilibrium under the influence of estimation errors. Finally, simulation results demonstrate that the proposed fault-tolerant game method can effectively predict the attacker's intent and perform interception, thereby protecting the target spacecraft.