A Sliding Mode Fault Tolerant Control Method for a Manipulator in Task-space under Dead Zone and Actuator Fault

Abstract

This paper illustrates a novel sliding mode fault-tolerant control method for a robotic manipulator under actuator faults and dead zone. The kind of actuator fault is effective degradation of actuator. Even though the actuator fault is actively dealt with, the proposed controller does not use a fault detection and diagnose tool to reconfigure itself. The stability of the entire control system is ensured by Lyapunov criterion. The simulation results reveal the correctness and effectiveness of this proposed method