Adaptive Fractional Order Sliding Mode Fault-Tolerant Control for Uncertain Manipulators With Intermittent Actuator Faults

It is both challenging and meaningful to investigate the control issue for uncertain manipulators with intermittent actuator faults. To solve this problem, an adaptive fractional sliding mode fault-tolerant control scheme is proposed. Within this scheme, a projection operator is used to change the adaptive parameters in controller and a piecewise continuous Lyapunov function is proposed to prove the closed-loop stability. It proves that the boundedness of all closed-loop signals are guaranteed in the case of intermittent actuator faults (IAFs) and the control goal is achieved. Furthermore, when the jump amplitude of the unknown fault parameters is smaller and the time interval between two consecutive actuator faults is longer, the tracking error is smaller. Finally, simulation studies are done to verify the feasibility of the developed control scheme.