A nested non-singular terminal sliding-mode controller paired with a fixed-time sliding-mode observer achieves fixed-time tip-position regulation for a single-link flexible manipulator, with stability guarantees shown via simulation and hardware tests.
Boundary control for a flexible manipulator based on infinite dimen- sional disturbance observer
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Observer-Based Fixed-Time Nested Sliding-Mode Control for Tip-Position Regulation of a Single-Link Flexible Manipulator
A nested non-singular terminal sliding-mode controller paired with a fixed-time sliding-mode observer achieves fixed-time tip-position regulation for a single-link flexible manipulator, with stability guarantees shown via simulation and hardware tests.