# ESO Based Adaptive Fixed-Time Integral Sliding Mode Control for Flexible Joint Robots Using Singular Perturbation Method

> Research article (Nonlinear Dynamics, 2025) · cited 16× · AI/ML

**Wikidata**: [openalex:W4411069172](https://www.wikidata.org/wiki/openalex:W4411069172)  
**Source**: https://4ort.xyz/entity/eso-based-adaptive-fixed-time-integral-sliding-mode-control-for-flexible-joint-robots-using-singular-perturbation-method