# Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots

> Research article (Mechanism and Machine Theory, 2021) · cited 30× · AI/ML

**Wikidata**: [openalex:W3205147737](https://www.wikidata.org/wiki/openalex:W3205147737)  
**Source**: https://4ort.xyz/entity/finite-time-extended-state-observer-and-fractional-order-sliding-mode-controller-for-impulsive-hybrid-port-hamiltonian-s