A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators with Global Fast Convergence

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Comparative analysis demonstrates superior trajectory tracking in robotic manipulators, indicating enhanced robustness against external disturbances.

Trajectory tracking errors converge to zero within a fixed settling time that remains completely independent of initial states in uncertain robotic manipulators.
Superior precision on a 2-link manipulator confirms faster error convergence than existing baselines, aided by an adaptive disturbance observer for lumped dynamics.
Comparative assessment on a 2-link manipulator couples an arctan-based terminal sliding mode manifold with Lyapunov method proofs to establish global stability.
May enable singularity-free motion control in robotic manipulators, eliminating the need for prior disturbance knowledge while ensuring predefined settling times.

Zhang et al. (2024) studied this question.

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Comparative analysis demonstrates superior trajectory tracking in robotic manipulators, indicating enhanced robustness against external disturbances.