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Abstract This paper proposes an adaptive sliding mode tracking control for a robotic manipulator to guarantee a deferred performance under input non‐linearities and external perturbations. Control inputs of the robotic manipulator are entrapped into saturation and failures simultaneously. A common method to deal with output constraints is based on the barrier Lyapunov function, which requires the system states to be within the prescribed bounds initially; an error‐shifting transformation is utilized and barrier functions are integrated into sliding model control to remove the unreasonable requirement and to realize a finite time convergence result collectively. Furthermore, the actuator faults are accommodated without any prior knowledge. Simulation examples are provided to verify the effectiveness of the proposed scheme.