# Adaptive fractional order non-singular terminal sliding mode controller for underwater soft crawling robots with parameter uncertainties and unknown disturbances

> Research article (Ocean Engineering, 2023) · cited 15× · AI/ML

**Wikidata**: [openalex:W4317830995](https://www.wikidata.org/wiki/openalex:W4317830995)  
**Source**: https://4ort.xyz/entity/adaptive-fractional-order-non-singular-terminal-sliding-mode-controller-for-underwater-soft-crawling-robots-with-paramet