# Adaptive hierarchical sliding mode control for full nonlinear dynamics of uncertain ridable ballbots under input saturation

> Research article (International Journal of Robust and Nonlinear Control, 2021) · cited 12× · AI/ML

**Wikidata**: [openalex:W3120084749](https://www.wikidata.org/wiki/openalex:W3120084749)  
**Source**: https://4ort.xyz/entity/adaptive-hierarchical-sliding-mode-control-for-full-nonlinear-dynamics-of-uncertain-ridable-ballbots-under-input-saturat