Observer-Based Fixed-Time Nested Sliding-Mode Control for Tip-Position Regulation of a Single-Link Flexible Manipulator
Abstract
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.
Cite
@article{arxiv.2605.11795,
title = {Observer-Based Fixed-Time Nested Sliding-Mode Control for Tip-Position Regulation of a Single-Link Flexible Manipulator},
author = {Atul Sharma and Chayan Kumar Paul and S. Janardhanan},
journal= {arXiv preprint arXiv:2605.11795},
year = {2026}
}