# Adaptive hierarchical sliding mode controller for tower cranes based on finite time disturbance observer

> Research article (International Journal of Adaptive Control and Signal Processing, 2022) · cited 30× · AI/ML

**Wikidata**: [openalex:W4283526973](https://www.wikidata.org/wiki/openalex:W4283526973)  
**Source**: https://4ort.xyz/entity/adaptive-hierarchical-sliding-mode-controller-for-tower-cranes-based-on-finite-time-disturbance-observer