Fault Tolerant Control Based on Adaptive Sliding Mode Method for Manipulator with Actuator Fault

A fault tolerant control(FTC) scheme based on adaptive sliding mode control technique with guaranteed stability are obtained for space manipulator under actuator fault. Firstly, the dynamic model of space manipulator is addressed and its actuator faulty model is modeled in free-swinging fault case. Secondly, adaptive sliding mode fault tolerant control for actuator fault and external disturbance is proposed, in which a novel kind of multiple sliding mode surface is design to reduce the chattering and convergence time of conventional sliding mode. Finally, the effectiveness of the proposed fault tolerant controller is successfully demonstrated by simulations for a dual-joint manipulator.