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This paper presents a control system for autonomous robotic excavators to suppress vibrations and ensure stability while operating on elastic ground. It combines fast terminal sliding mode, back-stepping, and fractional-order control methods to create a robust controller that effectively tracks movements and rejects disturbances. The proposed approach is validated through simulations and experiments, demonstrating its superiority over existing methods in vibration elimination and precise tracking.

Author

Nguyen Van Quyen

Language

EN