For system actuator’s fault of reconfigurable manipulators with model parameters uncertainty, a fault-tolerant
control algorithm based on backstepping design and time delay technology is proposed. This method uses the basic idea
of the backstepping design, and compensates parameter uncertainty of the dynamic model and interconnection term by the
neural networks. The proposed fault tolerant control does not need a fault diagnosis mechanism. Finally, simulation results
show the effectiveness of the proposed algorithm.