# Hierarchical NMPC–ISMC of active heave motion compensation system for TMS–ROV recovery

> Research article (Ocean Engineering, 2021) · cited 29× · AI/ML

**Wikidata**: [openalex:W3202805436](https://www.wikidata.org/wiki/openalex:W3202805436)  
**Source**: https://4ort.xyz/entity/hierarchical-nmpcismc-of-active-heave-motion-compensation-system-for-tmsrov-recovery