College of Mathematics and Systems Science Shandong University of Science and Technology Qingdao 266590 China;
College of Mathematics and Systems Science Shandong University of Science and Technology Qingdao 266590 China;
School of Mathematics Science Liaocheng University Liaocheng 252059 China;
School of Electrical Engineering and Information Anhui University of Technology Maanshan 243002 China;
College of Mathematics and Systems Science Shandong University of Science and Technology Qingdao 266590 China;
adaptive sliding mode control; fractional-order; disturbance-observer; time-delay; uncertainty;