{"id":"https://openalex.org/W3047703088","doi":"https://doi.org/10.1155/2020/4529131","title":"<mml:math xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" id=\"M1\"><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mi>\u221e</mml:mi></mml:mrow></mml:msub></mml:math> Time-Delayed Fractional Order Adaptive Sliding Mode Control for Two-Wheel Self-Balancing Vehicles","display_name":"<mml:math xmlns:mml=\"http://www.w3.org/1998/Math/MathML\" id=\"M1\"><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mi>\u221e</mml:mi></mml:mrow></mml:msub></mml:math> Time-Delayed Fractional Order Adaptive Sliding Mode Control for Two-Wheel Self-Balancing Vehicles","publication_year":2020,"publication_date":"2020-08-10","ids":{"openalex":"https://openalex.org/W3047703088","doi":"https://doi.org/10.1155/2020/4529131","mag":"3047703088","pmid":"https://pubmed.ncbi.nlm.nih.gov/32849863"},"language":"en","primary_location":{"id":"doi:10.1155/2020/4529131","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/4529131","pdf_url":"https://downloads.hindawi.com/journals/cin/2020/4529131.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/journals/cin/2020/4529131.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100711254","display_name":"Han Xue","orcid":"https://orcid.org/0000-0002-6418-9581"},"institutions":[{"id":"https://openalex.org/I161346416","display_name":"Jimei University","ror":"https://ror.org/03hknyb50","country_code":"CN","type":"education","lineage":["https://openalex.org/I161346416"]},{"id":"https://openalex.org/I4210164811","display_name":"Fujian Fisheries Research Institute","ror":"https://ror.org/05cv5pe55","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164811"]},{"id":"https://openalex.org/I75867142","display_name":"Xiamen University of Technology","ror":"https://ror.org/01285e189","country_code":"CN","type":"education","lineage":["https://openalex.org/I75867142"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Han Xue","raw_affiliation_strings":["Fujian Shipping Research Institute, Xiamen 361021, Fujian, China","National and Local Joint Engineering Research Center of Ship Aided Navigation Technology, Xiamen 361021, Fujian, China","School of Navigation, Jimei University, Xiamen 361021, Fujian, China","Xiamen Southeast International Shipping Research Center, Xiamen 361021, Fujian, China"],"raw_orcid":"https://orcid.org/0000-0002-6418-9581","affiliations":[{"raw_affiliation_string":"Fujian Shipping Research Institute, Xiamen 361021, Fujian, China","institution_ids":["https://openalex.org/I4210164811"]},{"raw_affiliation_string":"National and Local Joint Engineering Research Center of Ship Aided Navigation Technology, Xiamen 361021, Fujian, China","institution_ids":["https://openalex.org/I75867142"]},{"raw_affiliation_string":"School of Navigation, Jimei University, Xiamen 361021, Fujian, China","institution_ids":["https://openalex.org/I161346416"]},{"raw_affiliation_string":"Xiamen Southeast International Shipping Research Center, Xiamen 361021, Fujian, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062024139","display_name":"Qionglin Fang","orcid":"https://orcid.org/0000-0002-0374-5599"},"institutions":[{"id":"https://openalex.org/I161346416","display_name":"Jimei University","ror":"https://ror.org/03hknyb50","country_code":"CN","type":"education","lineage":["https://openalex.org/I161346416"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qionglin Fang","raw_affiliation_strings":["School of Navigation, Jimei University, Xiamen 361021, Fujian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Navigation, Jimei University, Xiamen 361021, Fujian, China","institution_ids":["https://openalex.org/I161346416"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101761775","display_name":"Jifeng Zhong","orcid":"https://orcid.org/0000-0001-5694-4180"},"institutions":[{"id":"https://openalex.org/I161346416","display_name":"Jimei University","ror":"https://ror.org/03hknyb50","country_code":"CN","type":"education","lineage":["https://openalex.org/I161346416"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jifeng Zhong","raw_affiliation_strings":["School of Navigation, Jimei University, Xiamen 361021, Fujian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Navigation, Jimei University, Xiamen 361021, Fujian, China","institution_ids":["https://openalex.org/I161346416"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060841234","display_name":"Zheping Shao","orcid":"https://orcid.org/0000-0002-1815-4433"},"institutions":[{"id":"https://openalex.org/I161346416","display_name":"Jimei University","ror":"https://ror.org/03hknyb50","country_code":"CN","type":"education","lineage":["https://openalex.org/I161346416"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe-ping Shao","raw_affiliation_strings":["School of Navigation, Jimei University, Xiamen 361021, Fujian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Navigation, Jimei University, Xiamen 361021, Fujian, China","institution_ids":["https://openalex.org/I161346416"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100711254"],"corresponding_institution_ids":["https://openalex.org/I161346416","https://openalex.org/I4210164811","https://openalex.org/I75867142"],"apc_list":{"value":2100,"currency":"USD","value_usd":2100},"apc_paid":{"value":2100,"currency":"USD","value_usd":2100},"fwci":0.0,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.08974062,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"2020","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6444464921951294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5940950512886047},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.47096994519233704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42719507217407227},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3701351284980774},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3279165029525757},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14350000023841858}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6444464921951294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5940950512886047},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47096994519233704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42719507217407227},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3701351284980774},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3279165029525757},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14350000023841858},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001331","descriptor_name":"Automation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001331","descriptor_name":"Automation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001331","descriptor_name":"Automation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013997","descriptor_name":"Time Factors","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013997","descriptor_name":"Time Factors","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013997","descriptor_name":"Time Factors","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":4,"locations":[{"id":"doi:10.1155/2020/4529131","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/4529131","pdf_url":"https://downloads.hindawi.com/journals/cin/2020/4529131.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},{"id":"pmid:32849863","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32849863","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational intelligence and neuroscience","raw_type":null},{"id":"pmh:oai:doaj.org/article:be2c051a98fb456bb0d23aa8e9cfe199","is_oa":false,"landing_page_url":"https://doaj.org/article/be2c051a98fb456bb0d23aa8e9cfe199","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computational Intelligence and Neuroscience, Vol 2020 (2020)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:7436360","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7436360","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Comput Intell Neurosci","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1155/2020/4529131","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/4529131","pdf_url":"https://downloads.hindawi.com/journals/cin/2020/4529131.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1290671165","display_name":null,"funder_award_id":"2018J05085","funder_id":"https://openalex.org/F4320325565","funder_display_name":"Jimei University"},{"id":"https://openalex.org/G2758171640","display_name":null,"funder_award_id":"2018J05085","funder_id":"https://openalex.org/F4320321878","funder_display_name":"Natural Science Foundation of Fujian Province"},{"id":"https://openalex.org/G3286951298","display_name":null,"funder_award_id":"202003","funder_id":"https://openalex.org/F4320325565","funder_display_name":"Jimei University"},{"id":"https://openalex.org/G3632719742","display_name":null,"funder_award_id":"202003","funder_id":"https://openalex.org/F4320321878","funder_display_name":"Natural Science Foundation of Fujian Province"}],"funders":[{"id":"https://openalex.org/F4320321878","display_name":"Natural Science Foundation of Fujian Province","ror":null},{"id":"https://openalex.org/F4320325565","display_name":"Jimei University","ror":"https://ror.org/03hknyb50"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3047703088.pdf","grobid_xml":"https://content.openalex.org/works/W3047703088.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W905898381","https://openalex.org/W1639165219","https://openalex.org/W1992733504","https://openalex.org/W2031366685","https://openalex.org/W2066998016","https://openalex.org/W2067277252","https://openalex.org/W2347010382","https://openalex.org/W2581117323","https://openalex.org/W2735993405","https://openalex.org/W2769693009","https://openalex.org/W2790612088","https://openalex.org/W2894146107","https://openalex.org/W2894575891","https://openalex.org/W2901214991","https://openalex.org/W2906172613","https://openalex.org/W2920321358","https://openalex.org/W2964057140","https://openalex.org/W2981427042"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W4387369504","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W3107602296","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,15,60,73,78,84],"time-delayed":[4,104],"fractional":[5,105],"order":[6,106],"adaptive":[7,107],"sliding":[8,108],"mode":[9,109],"control":[10,96,110],"algorithm":[11,111],"is":[12,23,33,47,92,128],"proposed":[13],"for":[14],"two-wheel":[16,64],"self-balancing":[17,65],"vehicle":[18,66,115],"system.":[19],"The":[20,30,63,98],"closed-loop":[21],"system":[22,38],"proved":[24],"based":[25],"on":[26],"the":[27,37,69,95,103,114],"Lyapunov-Razumikhin":[28],"function.":[29],"switching":[31],"function":[32],"designed":[34,48],"to":[35,49],"make":[36,113],"robust":[39],"when":[40],"facing":[41],"uncertainties":[42,58],"and":[43,54,76,89,119],"external":[44],"disturbances.":[45],"It":[46],"avoid":[50],"monotonically":[51],"increasing":[52],"gains":[53],"can":[55,112],"handle":[56],"state-dependent":[57],"without":[59],"prior":[61],"bound.":[62],"used":[67],"in":[68],"experiment":[70],"consists":[71],"of":[72,83],"gyroscope":[74],"MPU-6050":[75],"accelerometer,":[77],"motor":[79,85],"driving":[80,86],"circuit":[81],"composed":[82],"chip":[87],"TB6612FNG,":[88],"STM32F103x8B":[90],"that":[91,102],"selected":[93],"as":[94],"core.":[97],"experimental":[99],"results":[100],"show":[101],"achieve":[116],"autonomous":[117],"balance":[118],"quickly":[120],"restore":[121],"its":[122],"stable":[123],"state":[124],"while":[125],"appropriate":[126],"disturbance":[127],"introduced.":[129]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2020-08-13T00:00:00"}