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Considering that the ladle masonry manipulator is susceptible to environmental disturbance, sensor noise, system parameter variations, and other disturbances in complex environments, this paper proposes an active disturbance rejection control method based on a fixed\u2010time observer. A multi\u2010power fixed\u2010time extended state observer is constructed to ensure that complex disturbances converge to the equilibrium point within a fixed time, enabling accurate estimation of total system disturbances within a fixed\u2010time framework. Simulation results demonstrate that this method effectively overcomes the degradation of observation performance in the extended state observer caused by large initial observation errors, thereby enhancing the trajectory tracking accuracy and robustness of the manipulator.<\/jats:p>","DOI":"10.1002\/cpe.70497","type":"journal-article","created":{"date-parts":[[2025,12,4]],"date-time":"2025-12-04T11:17:42Z","timestamp":1764847062000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Active Disturbance Rejection Control for Ladle Masonry Robotic Arm Based on Fixed\u2010Time Observer"],"prefix":"10.1002","volume":"38","author":[{"given":"Ying","family":"Liu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering Hubei Engineering University  Xiaogan China"}]},{"given":"Yumei","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Hubei Engineering University  Xiaogan China"}]},{"given":"Shuangyuan","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Computer and Information Science Hubei Engineering University  Xiaogan China"}]},{"given":"Chang","family":"Li","sequence":"additional","affiliation":[{"name":"School of Computer and Information Science Hubei Engineering University  Xiaogan China"}]},{"given":"Juntong","family":"Yun","sequence":"additional","affiliation":[{"name":"Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology  Wuhan China"}]},{"given":"Li","family":"Huang","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology Wuhan University of Science and Technology  Wuhan China"}]},{"given":"Baojia","family":"Chen","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Hydroelectric Machinery Design &amp; 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