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), pp. 5–11. doi: 10.54939/1859-1043.j.mst.FEE.2024.5-11.