Fixed‐time sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems

This paper investigates a fixed-time convergence issue using the sliding mode observer-based controller for class of uncertain nonlinear double integrator systems. is designed assuming that only first state measurement available and there no information about external disturbances modeling uncertainties. A new form observer in combination with to estimate unmeasured unknown uncertainties as well provide estimated data control law. novel surfaces robust proposed which guaranteed achieve trajectory tracking. In scheme, bound on settling time user-defined design parameters regardless system's initial conditions. The law are such chattering alleviated signal. stability analysis closed-loop system established via Lyapunov theory. validity tested by applying simulating an example robot manipulator Simulink/MATLAB. superiority method demonstrated comparing it two other methods from relevant literature.