Tao, N.-L., Pham, D.-H., Pham, M.-K. and Nguyen, T.-V.-A. 2024. Optimization of Hierarchical Sliding Mode Control Parameters for a Two-Wheeled Balancing Mobile Robot Using the Firefly Algorithm. Journal of Robotics and Control (JRC). 6, 1 (Dec. 2024), 76–88. DOI:https://doi.org/10.18196/jrc.v6i1.24192.