# Finite time extended state observer based nonsingular fast terminal sliding mode control of flexible-joint manipulators with unknown disturbance

> Research article (Journal of the Franklin Institute, 2022) · cited 54× · AI/ML

**Wikidata**: [openalex:W4311462824](https://www.wikidata.org/wiki/openalex:W4311462824)  
**Source**: https://4ort.xyz/entity/finite-time-extended-state-observer-based-nonsingular-fast-terminal-sliding-mode-control-of-flexible-joint-manipulators-