# Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 37× · AI/ML

**Wikidata**: [openalex:W4281659317](https://www.wikidata.org/wiki/openalex:W4281659317)  
**Source**: https://4ort.xyz/entity/direction-and-trajectory-tracking-control-for-nonholonomic-spherical-robot-by-combining-sliding-mode-controller-and-mode