A fault tolerant control for robot manipulators against actuator fault

This paper considers the control problem for the robot manipulator systems affected by an actuator fault. The dynamic model of the robot manipulator is presented taking into account several physical phenomena, which can influence the dynamics of the system. Subsequently, two control schemes (FTC) for the faulty system are developed, one based on the sliding mode approach, while the second approach (backstepping) is based on the Lyapunov theorem. In the last part, an adaptive observer is made to estimate this fault. The simulation results showed the efficiency of the control methods calculated based on the nonlinear model to tolerate the presence of an actuator faults, as well as the efficience of the estimator.