# SHSA-based adaptive roll-safety 3D tracking control of a X-Rudder AUV with actuator dynamics

> Research article (Ocean Engineering, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4296905747](https://www.wikidata.org/wiki/openalex:W4296905747)  
**Source**: https://4ort.xyz/entity/shsa-based-adaptive-roll-safety-3d-tracking-control-of-a-x-rudder-auv-with-actuator-dynamics