{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T14:17:45Z","timestamp":1753885065408,"version":"3.41.2"},"reference-count":41,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,5,8]],"date-time":"2021-05-08T00:00:00Z","timestamp":1620432000000},"content-version":"vor","delay-in-days":127,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61703202"],"award-info":[{"award-number":["61703202"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>This paper studies the fixed\u2010time trajectory tracking control problem of robot manipulators in the presence of uncertain dynamics and external disturbances. First, a novel nonsingular fixed\u2010time sliding mode surface is presented, which can ensure that the convergence time of the suggested surface is bounded regardless of the initial states. Subsequently, a novel fast nonsingular fixed\u2010time sliding mode control (NFNFSMC) is developed so that the closed\u2010loop system is fixed\u2010time convergent to the equilibrium. By applying the proposed NFNFSMC method and the adaptive technique, a novel adaptive nonsingular fixed\u2010time control scheme is proposed, which can guarantee fast fixed\u2010time convergence of the tracking errors to small regions around the origin. With the proposed control method, the lumped disturbance is compensated by the adaptive technique, whose prior information about the upper bound is not needed. The fixed\u2010time stability of the trajectory tracking control under the proposed controller is proved by the Lyapunov stability theory. Finally, corresponding simulations are given to illustrate the validity and superiority of the proposed control approach.<\/jats:p>","DOI":"10.1155\/2021\/6629993","type":"journal-article","created":{"date-parts":[[2021,5,8]],"date-time":"2021-05-08T18:35:37Z","timestamp":1620498937000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Adaptive Fast Nonsingular Fixed\u2010Time Tracking Control for Robot Manipulators"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5536-3456","authenticated-orcid":false,"given":"Huihui","family":"Pan","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9566-7865","authenticated-orcid":false,"given":"Guangming","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2021,5,8]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.1016\/s0005-1098(02)00147-4"},{"key":"e_1_2_10_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2011350"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2013.02.003"},{"key":"e_1_2_10_4_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2017.1361"},{"key":"e_1_2_10_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2020.2975117"},{"key":"e_1_2_10_6_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/5070354"},{"key":"e_1_2_10_7_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207170701749881"},{"key":"e_1_2_10_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2013.08.027"},{"key":"e_1_2_10_9_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2017.1299812"},{"key":"e_1_2_10_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2016.2522386"},{"key":"e_1_2_10_11_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-017-0134-y"},{"key":"e_1_2_10_12_2","first-page":"1","article-title":"Model-free active input-output feedback linearization of a single-link flexible joint manipulator: an improved active disturbance rejection control approach","volume":"53","author":"Abdul-Adheem W. R.","year":"2020","journal-title":"Measurement and Control"},{"key":"e_1_2_10_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2782246"},{"key":"e_1_2_10_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2017.2665581"},{"key":"e_1_2_10_15_2","doi-asserted-by":"crossref","unstructured":"EsfandiariM. ChanS. SutherlandG. andWestwickD. Nonlinear model predictive control of robot manipulators using quasi-LPV representation Proceedings of the 7th International Conference on Control Mechatronics and Automation (ICCMA) November 2019 Delft The Netherlands.","DOI":"10.1109\/ICCMA46720.2019.8988747"},{"key":"e_1_2_10_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2017.11.029"},{"key":"e_1_2_10_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.2969665"},{"key":"e_1_2_10_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2021.109515"},{"key":"e_1_2_10_19_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899138"},{"key":"e_1_2_10_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.362847"},{"key":"e_1_2_10_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.489220"},{"key":"e_1_2_10_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2005.07.001"},{"key":"e_1_2_10_23_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2015.0401"},{"key":"e_1_2_10_24_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.advengsoft.2018.11.006"},{"key":"e_1_2_10_25_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.09.001"},{"key":"e_1_2_10_26_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2018.04.007"},{"key":"e_1_2_10_27_2","doi-asserted-by":"crossref","unstructured":"ZhangL. SuY. andWangZ. A simple non-singular terminal sliding mode control for uncertain robot manipulators 233 Proceedings of the Institution of Mechanical Engineers Part I: Journal of Systems and Control Engineering 2019 no. 6 666\u2013676 https:\/\/doi.org\/10.1177\/0959651818806797 2-s2.0-85060546995.","DOI":"10.1177\/0959651818806797"},{"key":"e_1_2_10_28_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2018.12.046"},{"key":"e_1_2_10_29_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/8951382"},{"key":"e_1_2_10_30_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/5019689"},{"key":"e_1_2_10_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.3008169"},{"key":"e_1_2_10_32_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2017.01.007"},{"key":"e_1_2_10_33_2","doi-asserted-by":"publisher","DOI":"10.1109\/taes.2018.2832998"},{"key":"e_1_2_10_34_2","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.4067"},{"key":"e_1_2_10_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.2980044"},{"key":"e_1_2_10_36_2","doi-asserted-by":"publisher","DOI":"10.1137\/s0363012997321358"},{"key":"e_1_2_10_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2016.2519838"},{"key":"e_1_2_10_38_2","first-page":"1","article-title":"Adaptive fixed-time six-DOF tracking control for noncooperative spacecraft fly-around mission","volume":"99","author":"Huang Y.","year":"2018","journal-title":"IEEE Transactions on Control System Technology"},{"key":"e_1_2_10_39_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.01.021"},{"key":"e_1_2_10_40_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2016.1457"},{"key":"e_1_2_10_41_2","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1666"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2021\/6629993.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2021\/6629993.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2021\/6629993","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,9]],"date-time":"2024-08-09T22:38:13Z","timestamp":1723243093000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2021\/6629993"}},"subtitle":[],"editor":[{"given":"Guang","family":"Li","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2021,1]]},"references-count":41,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["10.1155\/2021\/6629993"],"URL":"https:\/\/doi.org\/10.1155\/2021\/6629993","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"type":"print","value":"1076-2787"},{"type":"electronic","value":"1099-0526"}],"subject":[],"published":{"date-parts":[[2021,1]]},"assertion":[{"value":"2020-11-29","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-04-24","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-05-08","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"6629993"}}