This paper studies the problems of external disturbance and various actuator faults in a nonlinear robotic system. A composite compensation control scheme consisting of adaptive sliding mode controller and observer-based fault-tolerant controller is proposed. First, a sliding mode controller is designed to suppress the external disturbance, and an adaptive law is employed to estimate the bound of the disturbance. Next, a nonlinear observer is designed to estimate the actuator faults, and a fault-tolerant controller is obtained based on the observer. Finally, the composite compensation control scheme is obtained to simultaneously compensate the external disturbance and various actuator faults. It is proved by Lyapunov function that the disturbance compensation error and fault compensation error can converge to zero in finite time. The theoretical results are verified by simulations. Compared to the conventional fault reconstruction scheme, the proposed control scheme can compensate the disturbance while dealing with various actuator faults. The fault compensation accuracy is higher, and the fault error convergence rate is faster. Moreover, the robot can track the desired position trajectory more accurately and quickly.
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