# Model-Free Controller Design for Nonlinear Underactuated Systems With Uncertainties and Disturbances by Using Extended State Observer Based Chattering-Free Sliding Mode Control

> Research article (IEEE Access, 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4313555300](https://www.wikidata.org/wiki/openalex:W4313555300)  
**Source**: https://4ort.xyz/entity/model-free-controller-design-for-nonlinear-underactuated-systems-with-uncertainties-and-disturbances-by-using-extended-s