In order to solve the problem of actuator failure of flexible joint manipulator, adaptive fault-tolerant control for a flexible manipulator with bounded disturbance is proposed, both actuator partial failure and actuator stuck are considered. The control lows are devised by means of the dynamic surface technique, and the bounded disturbance is compensated via the design of robust items. The stability of the control system is guaranteed via the Lyapunov method. The effectiveness of the theoretical schemes is finally verified by two simulation examples.
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