Robust Fault Tolerant Control Based on Adaptive Backstepping Terminal Sliding Mode

This paper proposes a modified control law for Fault tolerant control (FTC) based on adaptive backstepping terminal sliding mode control (ABTSMC) for trajectory tracking control of robotic manipulators. The design integrates the benefits of terminal slide mode control (TSMC) with backstepping control against the proposed time-dependent fault that represents the actuator fault. The controller performance is executed using MATLAB simulation in a 2 DOF revolute joint robotic manipulator with actuator fault and system perturbation. The simulation shows the controller can track a trajectory with an actuator fault. The detailed stability analysis using the Lyapunov function is also done.