A Hierarchical Fractional-Order Sliding Mode Adaptive Control Method and Stability Analysis for Nonlinear Underactuated Ship Unloading Systems

A Hierarchical Fractional-Order Sliding Mode Adaptive Control Method and Stability Analysis for Nonlinear Underactuated Ship Unloading Systems

HUANG Zhi-ping, LI Yan, QIAN Yu-zhe

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Manufacturing Automation ›› 2026, Vol. 48 ›› Issue (1) : 135-144. DOI: 10.3969/j.issn.1009-0134.2026.01.015

A Hierarchical Fractional-Order Sliding Mode Adaptive Control Method and Stability Analysis for Nonlinear Underactuated Ship Unloading Systems

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{{article.zuoZheEn_L}}. {{article.title_en}}[J]. {{journal.qiKanMingCheng_EN}}. 2026, 48(1): 135-144. https://doi.org/10.3969/j.issn.1009-0134.2026.01.015

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