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    Adaptive hierarchical sliding mode control using an artificial neural network for a ballbot system with uncertainties

    Ballbots, which have been studied for over ten years, are under-actuated mobile robots that operate using the inverted pendulum paradigm. Controlling a ballbot poses a number of challenges, including maintaini...

    Hai Le Xuan, Quoc-Dong Hoang, Soon-Geul Lee… in Journal of Mechanical Science and Technolo… (2022)