Nguyen Thi Thuy Hang, Vu Duc Cuong, Pham Minh Duc, Nguyen Thi Van Anh and Nguyen Tung Lam 2024. Adaptive-based hierarchical sliding mode control for ball-balancing robots moving on an inclined plane . Journal of Military Science and Technology. FEE (Dec. 2024), 5–11. DOI:https://doi.org/10.54939/1859-1043.j.mst.FEE.2024.5-11.