Observer-Based Fixed-Time Nested Sliding-Mode Control for Tip-Position Regulation of a Single-Link Flexible Manipulator
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866917484363251712 |
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| author | Sharma, Atul Paul, Chayan Kumar Janardhanan, S. |
| author_facet | Sharma, Atul Paul, Chayan Kumar Janardhanan, S. |
| contents | This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested non-singular terminal sliding mode controller is designed for the system, enabling precise and robust control. Furthermore, a fixed-time sliding mode observer is designed to estimate unmeasured system states accurately in a fixed time, thereby enabling closed-loop control implementation. A stability analysis is presented to guarantee the robustness and efficacy of the proposed composite control algorithm. The effectiveness of the proposed fixed-time controller is demonstrated through numerical simulation on accuracy, stability, and convergence speed. The proposed controller's performance is also compared with that of other state-of-the-art control schemes. The proposed controller is further validated through experiments conducted on a real hardware setup. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_11795 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Observer-Based Fixed-Time Nested Sliding-Mode Control for Tip-Position Regulation of a Single-Link Flexible Manipulator Sharma, Atul Paul, Chayan Kumar Janardhanan, S. Systems and Control This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested non-singular terminal sliding mode controller is designed for the system, enabling precise and robust control. Furthermore, a fixed-time sliding mode observer is designed to estimate unmeasured system states accurately in a fixed time, thereby enabling closed-loop control implementation. A stability analysis is presented to guarantee the robustness and efficacy of the proposed composite control algorithm. The effectiveness of the proposed fixed-time controller is demonstrated through numerical simulation on accuracy, stability, and convergence speed. The proposed controller's performance is also compared with that of other state-of-the-art control schemes. The proposed controller is further validated through experiments conducted on a real hardware setup. |
| title | Observer-Based Fixed-Time Nested Sliding-Mode Control for Tip-Position Regulation of a Single-Link Flexible Manipulator |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2605.11795 |