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To suppress the overshoot and improve convergence speed of the trajectory tracking errors, prescribed performance control (PPC) method is studied to convert the tracking errors into unconstrained variables. Meanwhile, to attenuate the chattering in control torque, a fixed-time extended state observer (FxTESO) is suggested to estimate the unknown external disturbances. A nonsingular fast terminal sliding mode surface (NFTSMS) is designed and subsequently employed in devising a robust adaptive trajectory tracking controller. The tracking errors of the DASR are proved to consistently remain within the predefined bounds and converge to an arbitrarily small vicinity around the origin within fixed time. Numerical simulations are conducted to demonstrate the efficacy of the proposed approach.<\/jats:p>","DOI":"10.1177\/01423312241266640","type":"journal-article","created":{"date-parts":[[2025,6,25]],"date-time":"2025-06-25T08:16:04Z","timestamp":1750839364000},"page":"2152-2162","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Prescribed performance fixed-time tracking control based on extended state observer for dual-arm space robot with disturbances"],"prefix":"10.1177","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0781-3912","authenticated-orcid":false,"given":"Mengqing","family":"Hong","sequence":"first","affiliation":[{"name":"Department of Computer Information and Cyber Security, Jiangsu Police Institute, China"},{"name":"Jiangsu Electronic Data Forensics and Analysis Engineering Research Center, Jiangsu Police Institute, China"}]},{"given":"Xiutao","family":"Gu","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Science &amp; Technology, China"}]},{"given":"Liaoxue","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Science &amp; Technology, China"}]},{"given":"Qun","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Computer Information and Cyber Security, Jiangsu Police Institute, China"},{"name":"Jiangsu Electronic Data Forensics and Analysis Engineering Research Center, Jiangsu Police Institute, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8591-4703","authenticated-orcid":false,"given":"Yu","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Science &amp; Technology, China"}]}],"member":"179","published-online":{"date-parts":[[2024,9,20]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2019.2949588"},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282599"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1177\/0954410017716191"},{"key":"e_1_3_3_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2160030"},{"issue":"2","key":"e_1_3_3_6_1","first-page":"494","article-title":"Fixed-time prescribed performance adaptive trajectory tracking control for a QUAV","volume":"69","author":"Cui G","year":"2022","unstructured":"Cui G, Yang W, Yu J, et al. 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