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This work aims to cope with the problem of precise and fast position tracking for robot manipulators with an effective and safe control scheme. Specifically, a discrete-time super-twisting observer (STO) is integrated into the scheme to estimate the uncertain dynamics (e.g. unmodeled dynamics and external disturbances) in the feedforward compensation part of the dynamics. Subsequently, a discrete-time fast terminal sliding mode controller (FTSMC) dominates the robot control to guarantee fast convergence of the position tracking error. The significant improvement of the proposed method with respect to other discrete-time sliding mode control approaches lies in that it is capable of alleviating the chattering-like problem, achieving a fast convergence and improving the robustness of sliding mode control against uncertain dynamics. To illustrate the effectiveness of the presented control scheme, several experiments on a six degrees of freedom (6DoF) robot manipulator are provided.<\/jats:p>","DOI":"10.1177\/01423312241239714","type":"journal-article","created":{"date-parts":[[2024,4,20]],"date-time":"2024-04-20T06:14:40Z","timestamp":1713593680000},"page":"170-181","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Disturbance-rejection position tracking control of industrial robots via a discrete-time super-twisting observer\u2013based fast terminal sliding mode approach"],"prefix":"10.1177","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4023-3322","authenticated-orcid":false,"given":"Linyan","family":"Han","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, University of Leeds, UK"},{"name":"School of Automation, Key Laboratory of Measurement and Control of Complex Systems of Engineering, 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