# Smooth Fractional Order Sliding Mode Controller for Spherical Robots with Input Saturation

> Research article (Applied Sciences, 2020) · cited 16× · AI/ML

**Wikidata**: [openalex:W3011225294](https://www.wikidata.org/wiki/openalex:W3011225294)  
**Source**: https://4ort.xyz/entity/smooth-fractional-order-sliding-mode-controller-for-spherical-robots-with-input-saturation