{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T03:32:24Z","timestamp":1784259144553,"version":"3.55.0"},"reference-count":57,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,11,9]],"date-time":"2023-11-09T00:00:00Z","timestamp":1699488000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Neurorobot."],"abstract":"<jats:sec><jats:title>Introduction<\/jats:title><jats:p>The control of infinite-dimensional rigid-flexible robotic arms presents significant challenges, with direct truncation of first-order modal models resulting in poor control quality and second-order models leading to complex hardware implementations.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>To address these issues, we propose a fuzzy super twisting mode control method based on approximate inertial manifold dimensionality reduction for the robotic arm. This innovative approach features an adjustable exponential non-singular sliding surface and a stable continuous super twisting algorithm. A novel fuzzy strategy dynamically optimizes the sliding surface coefficient in real-time, simplifying the control mechanism.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>Our findings, supported by various simulations and experiments, indicate that the proposed method outperforms directly truncated first-order and second-order modal models. It demonstrates effective tracking performance under bounded external disturbances and robustness to system variability.<\/jats:p><\/jats:sec><jats:sec><jats:title>Discussion<\/jats:title><jats:p>The method's finite-time convergence, facilitated by the modification of the nonlinear homogeneous sliding surface, along with the system's stability, confirmed via Lyapunov theory, marks a significant improvement in control quality and simplification of hardware implementation for rigid-flexible robotic arms.<\/jats:p><\/jats:sec>","DOI":"10.3389\/fnbot.2023.1303700","type":"journal-article","created":{"date-parts":[[2023,11,13]],"date-time":"2023-11-13T03:35:51Z","timestamp":1699846551000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["Fuzzy super twisting mode control of a rigid-flexible robotic arm based on approximate inertial manifold dimensionality reduction"],"prefix":"10.3389","volume":"17","author":[{"given":"Xiaoshan","family":"Qian","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lisha","family":"Xu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinmei","family":"Yuan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2023,11,9]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"47","DOI":"10.5545\/sv-jme.2017.4786","article-title":"Nonlinear control of a flexible joint robotic manipulator with experimental validation","volume":"64","author":"Alam","year":"2018","journal-title":"J. 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