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The proposed approach is composed of conventional sliding\u2010mode control (SMC) in the internal loop and modified switched second\u2010order sliding\u2010mode (S\u2010SOSM) control in the external loop. Sliding\u2010mode controller is equivalently represented as stabilization of the nominal system without uncertainties. An S\u2010SOSM control algorithm is employed to counteract the impact of state\u2010dependent unmodeled dynamics and time\u2010varying external disturbances, and the unexpected chattering has been attenuated significantly. Particularly, state\u2010space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements. Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach.<\/jats:p>","DOI":"10.1155\/2018\/1430989","type":"journal-article","created":{"date-parts":[[2018,5,9]],"date-time":"2018-05-09T23:31:01Z","timestamp":1525908661000},"update-policy":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Finite\u2010Time Switched Second\u2010Order Sliding\u2010Mode Control of Nonholonomic Wheeled Mobile Robot Systems"],"prefix":"10.1155","volume":"2018","author":[{"given":"Hao","family":"Ce","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0003-0668-5621","authenticated-orcid":false,"given":"Wang","family":"Hongbin","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0001-9861-6783","authenticated-orcid":false,"given":"Cheng","family":"Xiaoyan","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0002-0420-4110","authenticated-orcid":false,"given":"Zhou","family":"Zhen","sequence":"additional","affiliation":[]},{"given":"Ge","family":"Shungang","sequence":"additional","affiliation":[]},{"given":"Hu","family":"Zhongquan","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2018,5,9]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.10.009"},{"key":"e_1_2_9_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(03)00058-X"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2015.2488589"},{"key":"e_1_2_9_4_2","first-page":"631","volume-title":"Handbook of Research on Advancements in Robotics and Mechatronics","author":"Yildirim S.","year":"2014"},{"key":"e_1_2_9_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s40313-015-0214-2"},{"key":"e_1_2_9_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-016-2910-2"},{"key":"e_1_2_9_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2016.04.015"},{"key":"e_1_2_9_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2016.11.029"},{"key":"e_1_2_9_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.09.022"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/tfuzz.2016.2598360"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2007.11.005"},{"key":"e_1_2_9_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2015.2412121"},{"key":"e_1_2_9_13_2","first-page":"125","article-title":"Neural network based sliding mode control for uncertain discrete-time nonlinear systems with time-varying delay","volume":"12","author":"Goyal V.","year":"2016","journal-title":"International Journal of Computational Intelligence Research"},{"key":"e_1_2_9_14_2","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.921"},{"key":"e_1_2_9_15_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2013.878038"},{"key":"e_1_2_9_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.12.036"},{"key":"e_1_2_9_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jprocont.2017.05.010"},{"key":"e_1_2_9_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2017.05.019"},{"key":"e_1_2_9_19_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2012.0750"},{"key":"e_1_2_9_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2013.2282594"},{"key":"e_1_2_9_21_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.01.002"},{"key":"e_1_2_9_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2007.910740"},{"key":"e_1_2_9_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2015.07.001"},{"key":"e_1_2_9_24_2","unstructured":"ShenD. 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