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Based on Lyapunov nite-time stability theory and backstepping strategy, we put forward a novel xedtime bounded H in nity tracking control scheme for a single-joint manipulator system with input saturation. The main control objective is to maintain that the system output variable tracks the desired signal at xed time. The advantages of this paper are the settling time of the tracking error converging to the origin is independent of the initial conditions, and its convergence speed is more faster. Meanwhile, bounded H in nity control is adopted to suppress the in uence of the external disturbances on the controlled system. At the same time, the problem of input saturation control is considered, which effectively reduce the input energy consumption. Theoretical analysis shows that the tracking error of the closed-loop system converges to a small neighborhood of the origin within xed time. In the end, a simulation example is presented to demonstrate the effectiveness of the proposed scheme.