# Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

> Research article (Sensors, 2021) · cited 103× · AI/ML

**Wikidata**: [openalex:W3124421294](https://www.wikidata.org/wiki/openalex:W3124421294)  
**Source**: https://4ort.xyz/entity/robust-position-control-of-an-over-actuated-underwater-vehicle-under-model-uncertainties-and-ocean-current-effects-using