# Fractional-order active fault-tolerant force-position controller design for the legged robots using saturated actuator with unknown bias and gain degradation

> Research article (Mechanical Systems and Signal Processing, 2017) · cited 41× · AI/ML

**Wikidata**: [openalex:W2769864946](https://www.wikidata.org/wiki/openalex:W2769864946)  
**Source**: https://4ort.xyz/entity/fractional-order-active-fault-tolerant-force-position-controller-design-for-the-legged-robots-using-saturated-actuator-w