{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,16]],"date-time":"2026-06-16T04:28:52Z","timestamp":1781584132992,"version":"3.54.5"},"reference-count":20,"publisher":"Wiley","license":[{"start":{"date-parts":[[2020,8,10]],"date-time":"2020-08-10T00:00:00Z","timestamp":1597017600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Fujian Provincial Natural Science Foundation Projects","award":["2018J05085"],"award-info":[{"award-number":["2018J05085"]}]},{"name":"Fujian Provincial Natural Science Foundation Projects","award":["202003"],"award-info":[{"award-number":["202003"]}]},{"DOI":"10.13039\/501100009013","name":"Jimei University","doi-asserted-by":"publisher","award":["2018J05085"],"award-info":[{"award-number":["2018J05085"]}],"id":[{"id":"10.13039\/501100009013","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100009013","name":"Jimei University","doi-asserted-by":"publisher","award":["202003"],"award-info":[{"award-number":["202003"]}],"id":[{"id":"10.13039\/501100009013","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Computational Intelligence and Neuroscience"],"published-print":{"date-parts":[[2020,8,10]]},"abstract":"<jats:p>In this paper, a time-delayed fractional order adaptive sliding mode control algorithm is proposed for a two-wheel self-balancing vehicle system. The closed-loop system is proved based on the Lyapunov-Razumikhin function. The switching function is designed to make the system robust when facing uncertainties and external disturbances. It is designed to avoid monotonically increasing gains and can handle state-dependent uncertainties without a prior bound. The two-wheel self-balancing vehicle used in the experiment consists of a gyroscope MPU-6050 and accelerometer, a motor driving circuit composed of a motor driving chip TB6612FNG, and STM32F103x8B that is selected as the control core. The experimental results show that the time-delayed fractional order adaptive sliding mode control algorithm can make the vehicle achieve autonomous balance and quickly restore its stable state while appropriate disturbance is introduced.<\/jats:p>","DOI":"10.1155\/2020\/4529131","type":"journal-article","created":{"date-parts":[[2020,8,10]],"date-time":"2020-08-10T23:33:58Z","timestamp":1597102438000},"page":"1-12","source":"Crossref","is-referenced-by-count":3,"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"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6418-9581","authenticated-orcid":true,"given":"Han","family":"Xue","sequence":"first","affiliation":[{"name":"School of Navigation, Jimei University, Xiamen 361021, Fujian, China"},{"name":"National and Local Joint Engineering Research Center of Ship Aided Navigation Technology, Xiamen 361021, Fujian, China"},{"name":"Fujian Shipping Research Institute, Xiamen 361021, Fujian, China"},{"name":"Xiamen Southeast International Shipping Research Center, Xiamen 361021, Fujian, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qionglin","family":"Fang","sequence":"additional","affiliation":[{"name":"School of Navigation, Jimei University, Xiamen 361021, Fujian, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jifeng","family":"Zhong","sequence":"additional","affiliation":[{"name":"School of Navigation, Jimei University, Xiamen 361021, Fujian, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhe-ping","family":"Shao","sequence":"additional","affiliation":[{"name":"School of Navigation, Jimei University, Xiamen 361021, Fujian, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/tfuzz.2014.2346237"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2018.2873769"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2018.08.006"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2018.2802467"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2012.10.013"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2013.02.002"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-013-1139-6"},{"key":"9","year":"2015"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2015.06.011"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-015-2321-9"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-016-2811-4"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0486-9"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1109\/jas.2017.7510544"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1016\/j.advengsoft.2017.11.001"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1016\/j.advengsoft.2018.11.006"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2018.09.002"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/lcsys.2019.2901566"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2019.108650"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2019.2930711"},{"key":"22","year":"1977"}],"container-title":["Computational Intelligence and Neuroscience"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2020\/4529131.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2020\/4529131.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2020\/4529131.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,8,10]],"date-time":"2020-08-10T23:34:01Z","timestamp":1597102441000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/cin\/2020\/4529131\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8,10]]},"references-count":20,"alternative-id":["4529131","4529131"],"URL":"https:\/\/doi.org\/10.1155\/2020\/4529131","relation":{},"ISSN":["1687-5265","1687-5273"],"issn-type":[{"value":"1687-5265","type":"print"},{"value":"1687-5273","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,8,10]]}}}