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To mitigate the uncertainty caused by these disturbances and minimize the tracking errors of the controllers, this study proposed a finite time tracking-based controller (FTC) that embeds a (NDO) and a second-order sliding-mode modifier (SOSM). The NDO was incorporated to compensate for the system\u2019s global bounded uncertainty and the SOSM used a robust nonsingular terminal sliding-mode modifier to stabilize the controller. The theoretical analysis showed that the tracking error could quickly converge in finite time. Simulation on a typical robotics manipulator demonstrated the practical appeal of the proposed scheme.<\/jats:p>","DOI":"10.1115\/1.4050470","type":"journal-article","created":{"date-parts":[[2021,3,11]],"date-time":"2021-03-11T15:13:23Z","timestamp":1615475603000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":6,"title":["A Novel Nonlinear Disturbance Observer Embedded Second-Order Finite Time Tracking-Based Controller for Robotic Manipulators"],"prefix":"10.1115","volume":"21","author":[{"given":"Bin","family":"Ren","sequence":"first","affiliation":[{"name":"School of Mechatronic Engineering and Automation, Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yao","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering and Automation, Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiayu","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Architecture and Civil Engineering, City University of Hong Kong, Hong Kong 999077, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Silu","family":"Chen","sequence":"additional","affiliation":[{"name":"Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"33","published-online":{"date-parts":[[2021,5,13]]},"reference":[{"issue":"7","key":"2021051316372095200_CIT0001","doi-asserted-by":"publisher","first-page":"863","DOI":"10.1007\/s12541-016-0105-x","article-title":"A Novel Adaptive Finite Time Tracking Control for Robotic Manipulators Using Nonsingular Terminal Sliding-Mode and RBF Neural Networks","volume":"17","author":"Tran","year":"2016","journal-title":"Int. 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