{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,10]],"date-time":"2026-08-10T22:00:27Z","timestamp":1786399227078,"version":"3.56.0"},"reference-count":40,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100004767","name":"University of Science and Technology Liaoning","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004767","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62173046"],"award-info":[{"award-number":["62173046"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["XLYC2402002"],"award-info":[{"award-number":["XLYC2402002"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U21A20483"],"award-info":[{"award-number":["U21A20483"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Communications in Nonlinear Science and Numerical Simulation"],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1016\/j.cnsns.2026.109844","type":"journal-article","created":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T00:19:29Z","timestamp":1771460369000},"page":"109844","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":1,"special_numbering":"C","title":["Fixed-time sliding mode control for nonlinear systems with input saturation via time-delay sliding surface"],"prefix":"10.1016","volume":"158","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-2362-0171","authenticated-orcid":false,"given":"Zaihong","family":"Zheng","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-7974-6701","authenticated-orcid":false,"given":"Dan","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3216-6246","authenticated-orcid":false,"given":"Ping","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7310-8421","authenticated-orcid":false,"given":"Ming","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5343-4342","authenticated-orcid":false,"given":"Libing","family":"Wu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.cnsns.2026.109844_bib0001","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2024.108572","article-title":"Nonlinear dynamic characteristics analysis of herringbone gear transmission system with tooth root crack","volume":"142","author":"Mo","year":"2025","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"7","key":"10.1016\/j.cnsns.2026.109844_bib0002","doi-asserted-by":"crossref","first-page":"4205","DOI":"10.1109\/TSMC.2023.3241365","article-title":"Reduced-order observer-based preassigned finite-time control of nonlinear systems and its applications","volume":"53","author":"Chen","year":"2023","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"issue":"7","key":"10.1016\/j.cnsns.2026.109844_bib0003","doi-asserted-by":"crossref","first-page":"2351","DOI":"10.1007\/s40435-023-01365-5","article-title":"Tracking control stabilization of systems manipulated by constrained parabolic nonlinear actuator","volume":"12","author":"Homaeinezhad","year":"2024","journal-title":"Int J Dyn Control"},{"key":"10.1016\/j.cnsns.2026.109844_bib0004","article-title":"Predefined-time reliable control for robotic systems with prescribed performance","author":"Liu","year":"2025","journal-title":"IEEE Trans Ind Electron"},{"key":"10.1016\/j.cnsns.2026.109844_bib0005","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2025.108697","article-title":"Nonlinear time-varying actuator fault-tolerant control for a nonlinear high-rise building system with uncertain control direction and output constraints","volume":"145","author":"Wang","year":"2025","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"8","key":"10.1016\/j.cnsns.2026.109844_bib0006","doi-asserted-by":"crossref","first-page":"3474","DOI":"10.1109\/TNNLS.2021.3053112","article-title":"Adaptive nn-based consensus for a class of nonlinear multiagent systems with actuator faults and faulty networks","volume":"33","author":"Jin","year":"2021","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"1","key":"10.1016\/j.cnsns.2026.109844_bib0007","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1007\/s40435-020-00638-7","article-title":"Review of sliding mode based control techniques for control system applications","volume":"9","author":"Gambhire","year":"2021","journal-title":"Int J Dyn Control"},{"key":"10.1016\/j.cnsns.2026.109844_bib0008","first-page":"1","article-title":"High-order sliding mode-based robust active disturbance rejection control for uncertain fractional-order nonlinear systems","author":"Alouane","year":"2025","journal-title":"Int J Syst Sci"},{"key":"10.1016\/j.cnsns.2026.109844_bib0009","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2024.108416","article-title":"Robust fault-tolerant control for switched systems based on adaptive unknown input observer","volume":"140","author":"Zhao","year":"2025","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"2","key":"10.1016\/j.cnsns.2026.109844_bib0010","doi-asserted-by":"crossref","first-page":"1103","DOI":"10.1109\/TII.2023.3254602","article-title":"Adaptive neural preassigned-time control for macro-micro composite positioning stage with displacement constraints","volume":"20","author":"Chen","year":"2023","journal-title":"IEEE Trans Ind Inf"},{"key":"10.1016\/j.cnsns.2026.109844_bib0011","doi-asserted-by":"crossref","DOI":"10.1109\/TNNLS.2025.3543336","article-title":"Q-Learning-based robust control for nonlinear systems with mismatched perturbations","author":"Cui","year":"2025","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"5","key":"10.1016\/j.cnsns.2026.109844_bib0012","doi-asserted-by":"crossref","first-page":"5215","DOI":"10.1109\/TIE.2023.3281701","article-title":"A novel faster fixed-time adaptive control for robotic systems with input saturation","volume":"71","author":"Liu","year":"2023","journal-title":"IEEE Trans Ind Electron"},{"issue":"11","key":"10.1016\/j.cnsns.2026.109844_bib0013","doi-asserted-by":"crossref","first-page":"3426","DOI":"10.1017\/S0263574723001078","article-title":"Model-free adaptive robust control based on tde for robot with disturbance and input saturation","volume":"41","author":"Liu","year":"2023","journal-title":"Robotica"},{"issue":"2","key":"10.1016\/j.cnsns.2026.109844_bib0014","doi-asserted-by":"crossref","first-page":"807","DOI":"10.1002\/rnc.5856","article-title":"Distributed robust tracking control for multiple euler-lagrange systems with full-state constraints and input saturation using an event-triggered scheme","volume":"32","author":"Liu","year":"2022","journal-title":"Int J Robust Nonlinear Control"},{"key":"10.1016\/j.cnsns.2026.109844_bib0015","doi-asserted-by":"crossref","first-page":"599","DOI":"10.1016\/j.ins.2023.02.051","article-title":"Fast finite-time observer-based sliding mode controller design for a class of uncertain nonlinear systems with input saturation","volume":"630","author":"Neisarian","year":"2023","journal-title":"Inf Sci"},{"key":"10.1016\/j.cnsns.2026.109844_bib0016","article-title":"Control of uncertain non-affine nonlinear systems using neural networks subject to input saturation with unknown control direction","author":"Rezaei","year":"2024","journal-title":"J Vib Control"},{"issue":"3","key":"10.1016\/j.cnsns.2026.109844_bib0017","doi-asserted-by":"crossref","first-page":"1476","DOI":"10.1002\/asjc.2305","article-title":"Adaptive tracking control of robot manipulators with input saturation and time arying output constraints","volume":"23","author":"Wu","year":"2021","journal-title":"Asian J Control"},{"issue":"1","key":"10.1016\/j.cnsns.2026.109844_bib0018","doi-asserted-by":"crossref","DOI":"10.1049\/cth2.70010","article-title":"Adaptive dynamic surface control for high-order strict-feedback systems with input saturation: a fully actuated system approach","volume":"19","author":"Xiao","year":"2025","journal-title":"IET Control Theory Appl"},{"issue":"5","key":"10.1016\/j.cnsns.2026.109844_bib0019","doi-asserted-by":"crossref","first-page":"5215","DOI":"10.1109\/TIE.2023.3281701","article-title":"A novel faster fixed-time adaptive control for robotic systems with input saturation","volume":"71","author":"Liu","year":"2023","journal-title":"IEEE Trans Ind Electron"},{"issue":"1324","key":"10.1016\/j.cnsns.2026.109844_bib0020","first-page":"1219","article-title":"Fixed-time control for free-floating space manipulators with prescribed constraints and input saturation","volume":"128","author":"Yan","year":"2024","journal-title":"Aeronautical J"},{"issue":"12","key":"10.1016\/j.cnsns.2026.109844_bib0021","doi-asserted-by":"crossref","first-page":"2106","DOI":"10.1109\/JAS.2022.105413","article-title":"An overview of finite\/fixed-time control and its application in engineering systems","volume":"9","author":"Liu","year":"2022","journal-title":"IEEE\/CAA J Autom Sin"},{"issue":"6","key":"10.1016\/j.cnsns.2026.109844_bib0022","doi-asserted-by":"crossref","first-page":"3615","DOI":"10.1109\/TCYB.2023.3338165","article-title":"Practical fixed-time bipartite synchronization of uncertain coupled neural networks subject to deception attacks via dual-channel event-triggered control","volume":"54","author":"Chen","year":"2023","journal-title":"IEEE Trans Cybern"},{"issue":"8","key":"10.1016\/j.cnsns.2026.109844_bib0023","doi-asserted-by":"crossref","DOI":"10.1063\/5.0221694","article-title":"Novel flexible fixed-time stability theorem and its application to sliding mode control nonlinear systems","volume":"95","author":"Liu","year":"2024","journal-title":"Rev Sci Instrum"},{"key":"10.1016\/j.cnsns.2026.109844_bib0024","doi-asserted-by":"crossref","DOI":"10.1109\/TCYB.2024.3456089","article-title":"Dynamic surface intelligent robust control of nonlinear systems with fixed-time sliding-mode observer","author":"Han","year":"2024","journal-title":"IEEE Trans Cybern"},{"issue":"12","key":"10.1016\/j.cnsns.2026.109844_bib0025","doi-asserted-by":"crossref","first-page":"2525","DOI":"10.1109\/JAS.2023.123891","article-title":"Consensus-based distributed secondary control of microgrids: a pre-assigned time sliding mode approach","volume":"11","author":"Chen","year":"2024","journal-title":"IEEE\/CAA J Autom Sin"},{"key":"10.1016\/j.cnsns.2026.109844_bib0026","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2023.107225","article-title":"Adaptive sliding mode control for unknown uncertain non-linear systems with variable coefficients and disturbances","volume":"121","author":"Wen","year":"2023","journal-title":"Commun Nonlinear Sci Numer Simul"},{"key":"10.1016\/j.cnsns.2026.109844_bib0027","series-title":"IEEE Transactions on circuits and systems i: regular papers","article-title":"Finite-time sliding mode control for npc converters with enhanced disturbance compensation","author":"Shen","year":"2024"},{"issue":"2","key":"10.1016\/j.cnsns.2026.109844_bib0028","doi-asserted-by":"crossref","first-page":"2375","DOI":"10.1007\/s13369-022-07246-x","article-title":"Nonlinear integral sliding mode control with adaptive extreme learning machine and robust control term for anti-external disturbance robotic manipulator","volume":"48","author":"Yang","year":"2023","journal-title":"Arabian J Sci Eng"},{"key":"10.1016\/j.cnsns.2026.109844_bib0029","doi-asserted-by":"crossref","first-page":"60444","DOI":"10.1109\/ACCESS.2020.2980044","article-title":"A fast nonsingular terminal sliding mode control method for nonlinear systems with fixed-time stability guarantees","volume":"8","author":"Tian","year":"2020","journal-title":"IEEE Access"},{"key":"10.1016\/j.cnsns.2026.109844_bib0030","series-title":"Adaptive sliding mode and higher order sliding-mode control techniques with applications: a survey Sliding-Mode Control and Variable-Structure Systems: The State of the Art","first-page":"267","author":"Shtessel","year":"2023"},{"key":"10.1016\/j.cnsns.2026.109844_bib0031","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2025.108909","article-title":"Disturbance observer-based h\u221e quantized fuzzy control of nonlinear delayed parabolic pde systems","author":"Sun","year":"2025","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"11","key":"10.1016\/j.cnsns.2026.109844_bib0032","doi-asserted-by":"crossref","first-page":"14823","DOI":"10.1109\/TIE.2024.3366204","article-title":"Adaptive disturbance observer-based fixed-time tracking control for uncertain robotic systems","volume":"71","author":"Liu","year":"2024","journal-title":"IEEE Trans Ind Electron"},{"key":"10.1016\/j.cnsns.2026.109844_bib0033","doi-asserted-by":"crossref","DOI":"10.1109\/TCYB.2025.3576397","article-title":"Observer-based fixed-time-synchronized control for uncertain euler-lagrange systems with bias-actuator faults","author":"Jin","year":"2025","journal-title":"IEEE Trans Cybern"},{"key":"10.1016\/j.cnsns.2026.109844_bib0034","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2021.105884","article-title":"Extended state observer-based control of heartbeat described by heterogeneous coupled oscillator model","volume":"101","author":"Gharesi","year":"2021","journal-title":"Commun Nonlinear Sci Numer Simul"},{"issue":"2","key":"10.1016\/j.cnsns.2026.109844_bib0035","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1080\/00207721.2021.1958024","article-title":"State-estimation-based adaptive sliding mode control for a class of uncertain time-delay systems: a new design","volume":"53","author":"Xu","year":"2022","journal-title":"Int J Syst Sci"},{"issue":"10","key":"10.1016\/j.cnsns.2026.109844_bib0036","doi-asserted-by":"crossref","first-page":"13083","DOI":"10.1109\/TIE.2024.3357875","article-title":"Time-delay sliding mode control for trajectory tracking of robot manipulators","volume":"71","author":"Yang","year":"2024","journal-title":"IEEE Trans Ind Electron"},{"key":"10.1016\/j.cnsns.2026.109844_bib0037","doi-asserted-by":"crossref","first-page":"364","DOI":"10.1016\/j.isatra.2023.10.011","article-title":"Fixed-time terminal sliding mode control for uncertain robot manipulators","volume":"144","author":"Zhang","year":"2024","journal-title":"ISA Trans"},{"issue":"10","key":"10.1016\/j.cnsns.2026.109844_bib0038","doi-asserted-by":"crossref","first-page":"6439","DOI":"10.1109\/TIE.2016.2569068","article-title":"Tracking control of robotic manipulators with uncertain kinematics and dynamics","volume":"63","author":"Xiao","year":"2016","journal-title":"IEEE Trans Ind Electron"},{"issue":"8","key":"10.1016\/j.cnsns.2026.109844_bib0039","doi-asserted-by":"crossref","first-page":"2106","DOI":"10.1109\/TAC.2011.2179869","article-title":"Nonlinear feedback design for fixed-time stabilization of linear control systems","volume":"57","author":"Polyakov","year":"2011","journal-title":"IEEE Trans Automat Contr"},{"issue":"1","key":"10.1016\/j.cnsns.2026.109844_bib0040","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1007\/s11071-016-2897-8","article-title":"Fixed-time dynamic surface high-order sliding mode control for chaotic oscillation in power system","volume":"86","author":"Ni","year":"2016","journal-title":"Nonlinear Dyn"}],"container-title":["Communications in Nonlinear Science and Numerical Simulation"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S1007570426002042?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S1007570426002042?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T03:08:07Z","timestamp":1777604887000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S1007570426002042"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":40,"alternative-id":["S1007570426002042"],"URL":"https:\/\/doi.org\/10.1016\/j.cnsns.2026.109844","relation":{},"ISSN":["1007-5704"],"issn-type":[{"value":"1007-5704","type":"print"}],"subject":[],"published":{"date-parts":[[2026,7]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Fixed-time sliding mode control for nonlinear systems with input saturation via time-delay sliding surface","name":"articletitle","label":"Article Title"},{"value":"Communications in Nonlinear Science and Numerical Simulation","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.cnsns.2026.109844","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"109844"}}