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A high-order fixed-time extended state observer is designed to observe lumped uncertainties, its convergence time is only determined by the designed parameters. In addition, a fixed-time stable system is established to speed the convergence of system states underlying the existing fixed-time theory, and a non-singular fast terminal sliding mode surface is developed by depending on this system. Based on the designed observer and sliding mode surface, a fast fixed-time sliding mode controller is designed to guarantee global fixed-time convergence of the tracking error. Finally, the effectiveness and superiority of the proposed method are demonstrated by two-link robotic manipulator.<\/jats:p>","DOI":"10.1177\/01423312241301466","type":"journal-article","created":{"date-parts":[[2025,1,11]],"date-time":"2025-01-11T06:17:59Z","timestamp":1736576279000},"page":"1257-1269","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Fixed-time sliding mode trajectory tracking control for uncertain robotic manipulators using high-order extended state observer"],"prefix":"10.1177","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5366-4415","authenticated-orcid":false,"given":"Yunjun","family":"Chen","sequence":"first","affiliation":[{"name":"School of Control Science and Engineering, Tiangong University, China"},{"name":"Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, Tiangong University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jixiang","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Control Science and Engineering, Tiangong University, China"},{"name":"Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, Tiangong University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5092-4090","authenticated-orcid":false,"given":"Lu","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Control Science and Engineering, Tiangong University, China"},{"name":"Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, Tiangong University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,1,11]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2019.2895588"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.1137\/060675861"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2522386"},{"key":"e_1_3_2_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2018.04.007"},{"key":"e_1_3_2_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-020-05596-5"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2021.3116713"},{"key":"e_1_3_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2020.2966077"},{"key":"e_1_3_2_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2016.2636323"},{"key":"e_1_3_2_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2020.3024672"},{"key":"e_1_3_2_11_1","doi-asserted-by":"publisher","DOI":"10.1177\/01423312241230032"},{"key":"e_1_3_2_12_1","doi-asserted-by":"publisher","DOI":"10.1007\/s40430-024-04737-w"},{"key":"e_1_3_2_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2021.04.001"},{"key":"e_1_3_2_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.111939"},{"key":"e_1_3_2_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/oca.2433"},{"issue":"8","key":"e_1_3_2_16_1","first-page":"1084","article-title":"Fixed-time fault estimation and prescribed performance fault-tolerant control for interconnected systems","volume":"54","author":"Liu Q","year":"2022","unstructured":"Liu Q, Zhang K, Jiang B (2022a) Fixed-time fault estimation and prescribed performance fault-tolerant control for interconnected systems. 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