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Then, a novel low-chattering and global-nonsingular fixed-time terminal sliding mode control strategy is studied by state approaching angle and switching sliding mode; the practical fixed-reachable Lyapunov stability analysis is presented for a mechanical control system. In the end, the proposed trajectory planning method and controller are combined to improve the tracking accuracy of end-effector to the nanoscale. Simulation results validate the effectiveness of the proposed methodologies.<\/jats:p>","DOI":"10.1017\/s0263574721000734","type":"journal-article","created":{"date-parts":[[2021,6,16]],"date-time":"2021-06-16T05:15:24Z","timestamp":1623820524000},"page":"625-645","source":"Crossref","is-referenced-by-count":53,"title":["Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0783-7837","authenticated-orcid":false,"given":"Wen","family":"Yan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yicheng","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qijie","family":"Lan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haiyan","family":"Tu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,6,16]]},"reference":[{"key":"S0263574721000734_ref25","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574707003438"},{"key":"S0263574721000734_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2016.2519838"},{"key":"S0263574721000734_ref33","unstructured":"[33] Craig, J. 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