# An Improved Backstepping Controller with an LESO and TDs for Robust Underwater 3D Trajectory Tracking of a Turtle-Inspired Amphibious Spherical Robot

> Research article (Machines, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4281973341](https://www.wikidata.org/wiki/openalex:W4281973341)  
**Source**: https://4ort.xyz/entity/an-improved-backstepping-controller-with-an-leso-and-tds-for-robust-underwater-3d-trajectory-tracking-of-a-turtle-inspir