# Backstepping Sliding Mode Control Based on Extended State Observer for Robotic Manipulators with LuGre Friction

> Research article (International Journal of Control Automation and Systems, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4224255941](https://www.wikidata.org/wiki/openalex:W4224255941)  
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