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An improved type of control strategy combining the fractional calculus with nonsingular terminal sliding mode control named non-singular fractional terminal sliding mode control (NFOTSM) is proposed for the nonlinear tire-road friction control system of vehicle in this paper. A fractional-order switching manifold is proposed, and the corresponding control law is formulated based on the Lyapunov stability theory to guarantee the sliding condition. The proposed controller ensures the finite timedoi:10.1155/2013/523251 fatcat:kohqeomlwzg7dfblcevbygw7xu