TAO, N.-L.; PHAM, D.-H.; PHAM, M.-K.; NGUYEN, T.-V.-A. Optimization of Hierarchical Sliding Mode Control Parameters for a Two-Wheeled Balancing Mobile Robot Using the Firefly Algorithm. Journal of Robotics and Control (JRC), [S. l.], v. 6, n. 1, p. 76–88, 2024. DOI: 10.18196/jrc.v6i1.24192. Disponível em: https://journal.umy.ac.id/index.php/jrc/article/view/24192. Acesso em: 3 sep. 2025.