JERAJournal of Electronic Research and Application2208-35022208-3510Bio-Byword Scientific Publishing Pty. Ltd.10.26689/jera.v9i3.10618ArticleGlobal Terminal Switching Sliding Mode Control of Robot Manipulators Based on Entire Fixed-Time Disturbance Observerhttps://artdesignp.com/journal/JERA/9/3/10.26689/jera.v9i3.10618ZhangFengning2025932025-05-29This paper presents an entire fixed-time disturbance observer-based global terminal switching sliding mode control of robot manipulators, which has inner and external uncertainties. The entire fixed-time disturbance observer-based global terminal switching sliding mode control has the global finite-time reaching characteristic, the property that system convergence time can be prescribed, and the global robustness to uncertainties, with the entire fixed-time disturbance observer that accurately estimates uncertainties after a fixed time, despite the initial state. The joints of the control system can arrive at the prescribed joint angular position at the predefined joint angular speed at the prescribed time.

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