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The key idea is to employ a positive-increasing function associated with the control\/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time<jats:bold>-<\/jats:bold>varying form of the robotic manipulator model is obtained to provide finite<jats:bold>-<\/jats:bold>time boundedness using the first<jats:bold>-<\/jats:bold>order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced<jats:bold>-<\/jats:bold>order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer<jats:bold>-<\/jats:bold>based finite-time position tracking control law is designed. The time<jats:bold>-<\/jats:bold>varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies.<\/jats:p>","DOI":"10.1007\/s10846-022-01571-x","type":"journal-article","created":{"date-parts":[[2022,2,11]],"date-time":"2022-02-11T11:04:41Z","timestamp":1644577481000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method"],"prefix":"10.1007","volume":"104","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6894-2446","authenticated-orcid":false,"given":"Hamid","family":"Razmjooei","sequence":"first","affiliation":[]},{"given":"Mohammad Hossein","family":"Shafiei","sequence":"additional","affiliation":[]},{"given":"Gianluca","family":"Palli","sequence":"additional","affiliation":[]},{"given":"Mohammad Mehdi","family":"Arefi","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,2,11]]},"reference":[{"issue":"2","key":"1571_CR1","doi-asserted-by":"publisher","first-page":"212","DOI":"10.1016\/j.robot.2008.04.003","volume":"57","author":"A Tavasoli","year":"2009","unstructured":"Tavasoli, A., Eghtesad, M., Jafarian, H.: Time-two scale control and observer design for trajectory tracking of two cooperating robot manipulators moving a flexible beam. 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