This paper addresses the stabilization problem for nonlinear Markovian jump systems (MJS) with output disturbances, actuator and sensor faults simultaneously. This kind of plants are common in practical systems, such as mobile manipulators with switching joints. In this paper, a sliding mode observer design scheme is proposed for a new descriptor augmented plant. By employing the developed observer, the effects of actuator and sensor faults can be eliminated. It is shown that the stabilization of the overall closed-loop plant can be guaranteed by the proposed fault tolerant control (FTC) scheme. Finally, an example concerning mobile manipulators with Markovian switching joints is presented to show the effectiveness and applicability of the theoretical results.