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Firstly, a disturbance observer with exponential convergence performance is developed to estimate the lumped disturbances and actuator failures, a radial basis function neural network (RBFNN) is introduced to reduce the estimation error which generated by the observer. Based on prescribed performance function, an adaptive fixed-time fault-tolerant control (AFFTC) is developed using the back-stepping control framework. This approach does not necessitate complete information about the robot manipulator\u2019s dynamic model, thereby making its implementation in practical, real-life situations more accessible. The stability of the proposed system is established via the Lyapunov criterion and the feasibility of the observer is validated.<\/jats:p>","DOI":"10.1177\/09596518241309127","type":"journal-article","created":{"date-parts":[[2025,1,28]],"date-time":"2025-01-28T23:24:43Z","timestamp":1738106683000},"page":"1107-1118","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Guaranteed performance adaptive fixed-time neural control for robot manipulators with disturbance observer"],"prefix":"10.1177","volume":"239","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-5051-9747","authenticated-orcid":false,"given":"Jianbang","family":"Huang","sequence":"first","affiliation":[{"name":"School of Cyber Science and Engineering, Qufu Normal University, Qufu, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2005-1801","authenticated-orcid":false,"given":"Teng","family":"Cao","sequence":"additional","affiliation":[{"name":"School of Cyber Science and Engineering, Qufu Normal University, Qufu, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhe","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"},{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaohua","family":"Yang","sequence":"additional","affiliation":[{"name":"College of Engineering, Qufu Normal University, Qufu, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2025,1,26]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.115327"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105403"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2022.3176538"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2023.110969"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.chaos.2023.113623"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2021.12.062"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2024.107025"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2023.3293834"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2021.06.013"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2023.01.005"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2022.3164739"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2023.3244189"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2023.111153"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2020.2973955"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2016.2557220"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSG.2024.3407770"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2023.110984"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-023-09022-4"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCSII.2022.3172417"},{"issue":"11","key":"e_1_3_2_21_2","first-page":"4143","article-title":"Finite-time command filtered adaptive control for robot manipulators in random vibration environment","volume":"70","author":"Song X","year":"2023","unstructured":"Song X, Zhao L, Cui G. 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