Vibration suppression and fixed-time precision tracking of flexible-link manipulators under actuation limits and unknown disturbances

Hamede Karami, Farhad Bayat, Saleh Mobayen, Afef Fekih, Department of Electrical Engineering, Faculty of Engineering, University of Zanjan, Graduate School of Intelligent Data Science, National Yunlin University of Science and Technology, Department of Electrical and Computer Engineering, University of Louisiana at Lafayette

Journal of Vibration and Control

Published online on July 29, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
This paper presents a novel fast fixed-time nonsingular sliding mode controller designed to enhance target tracking accuracy and reduce vibrations in flexible-link manipulators. The core innovation lies in simultaneously addressing model uncertainties, ...