Decoupled Fractional Supertwisting Stabilization of Interconnected Mobile Robot Under Harsh Terrain Conditions

Fractional robust finite time control of four-wheel-steering mobile robots subject to serious time-varying perturbations

“…Under this method, the required closed-loop stability can be guaranteed under serious lump time-varying perturbations (such as the unmodeled dynamics and parametric vibrations). Compared with the traditional control solutions used in FMR (such as [48][49][50]), the main contributions are as follows: 1) By designing a fractional-order variable gain adaption mechanism, the proposed method can directly suppress the complex disturbance without requiring the upper boundary or correlation derivatives of the disturbances. In this manner, the balance between the trajectory tracking accuracy and anti-disturbance accruing in traditional methods [47] can be avoided.…”