# Mathematical modelling and control of a nonholonomic spherical robot on a variable-slope inclined plane using terminal sliding mode control

> Research article (Nonlinear Dynamics, 2017) · cited 28× · AI/ML

**Wikidata**: [openalex:W2742459483](https://www.wikidata.org/wiki/openalex:W2742459483)  
**Source**: https://4ort.xyz/entity/mathematical-modelling-and-control-of-a-nonholonomic-spherical-robot-on-a-variable-slope-inclined-plane-using-terminal-s