Effectiveness factor integrated decentralized fault tolerant control scheme for reconfigurable manipulators

A decentralized backstepping sliding mode fault tolerant scheme was developed to prevent partial loss of actuator effectiveness of reconfigurable manipulators with dynamic friction.An effectiveness factor was integrated into the dynamic model of each module subsystem of the reconfigurable manipulators.Lyapunov stability theory was used to develop backstepping and terminal sliding techniques for controller design in subsystem state error space.The radial basis function(RBF) neural networks,uncertainty terms and interconnection terms were estimated with adaptive compensation of the estimation error.Simulations show the effectiveness of this decentralized fault tolerant scheme.