{"id":"https://openalex.org/W7166646752","doi":"https://doi.org/10.65154/ijmst.39","title":"Allocation Integrated Sliding Mode Control for Heading Autonomous Underwater Vehicles with Varying Speeds","display_name":"Allocation Integrated Sliding Mode Control for Heading Autonomous Underwater Vehicles with Varying Speeds","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7166646752","doi":"https://doi.org/10.65154/ijmst.39"},"language":"en","primary_location":{"id":"doi:10.65154/ijmst.39","doi":"https://doi.org/10.65154/ijmst.39","is_oa":true,"landing_page_url":"https://doi.org/10.65154/ijmst.39","pdf_url":"https://i-jmst.vimaru.edu.vn/index.php/i-jmst/article/download/39/23","source":{"id":"https://openalex.org/S5407055270","display_name":"International Journal of Marine Science and Technology","issn_l":"3093-3609","issn":["3093-3609"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I73685970","host_organization_name":"Vietnam Maritime University","host_organization_lineage":["https://openalex.org/I73685970"],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Marine Science and Technology","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://i-jmst.vimaru.edu.vn/index.php/i-jmst/article/download/39/23","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041197316","display_name":"Do Khac Tiep","orcid":"https://orcid.org/0009-0005-1133-1504","observed_orcids":["https://orcid.org/0009-0005-1133-1504"]},"institutions":[{"id":"https://openalex.org/I73685970","display_name":"Vietnam Maritime University","ror":"https://ror.org/03z9fzp04","country_code":"VN","type":"education","lineage":["https://openalex.org/I73685970"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Khac Tiep Do","raw_affiliation_strings":["Faculty of Electrical and Electronic Engineering, Vietnam Maritime University, Haiphong"],"raw_orcid":"https://orcid.org/0009-0005-1133-1504","affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Electronic Engineering, Vietnam Maritime University, Haiphong","institution_ids":["https://openalex.org/I73685970"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106382964","display_name":"Nguyen Van Tien","orcid":"https://orcid.org/0000-0003-1487-5345","observed_orcids":["https://orcid.org/0000-0003-1487-5345"]},"institutions":[{"id":"https://openalex.org/I73685970","display_name":"Vietnam Maritime University","ror":"https://ror.org/03z9fzp04","country_code":"VN","type":"education","lineage":["https://openalex.org/I73685970"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Van Tien Nguyen","raw_affiliation_strings":["Faculty of Electrical and Electronic Engineering, Vietnam Maritime University, Haiphong"],"raw_orcid":"https://orcid.org/0000-0003-1487-5345","affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Electronic Engineering, Vietnam Maritime University, Haiphong","institution_ids":["https://openalex.org/I73685970"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73685970"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39242411,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":"2","first_page":"24","last_page":"31"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.004800000227987766,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.004000000189989805,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-underwater-vehicles","display_name":"autonomous underwater vehicles","score":0.984000027179718},{"id":"https://openalex.org/keywords/heading-control","display_name":"heading control","score":0.9940000176429749},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"sliding mode control","score":0.9789999723434448},{"id":"https://openalex.org/keywords/control-allocation","display_name":"control allocation","score":0.9900000095367432},{"id":"https://openalex.org/keywords/variable-speed-operation","display_name":"variable speed operation","score":0.7789999842643738},{"id":"https://openalex.org/keywords/actuator-saturation","display_name":"actuator saturation","score":0.9150000214576721},{"id":"https://openalex.org/keywords/hierarchical-control","display_name":"hierarchical control","score":0.5649999976158142},{"id":"https://openalex.org/keywords/disturbance-rejection","display_name":"disturbance rejection","score":0.7519999742507935},{"id":"https://openalex.org/keywords/yaw-moment-control","display_name":"yaw moment control","score":0.5540000200271606},{"id":"https://openalex.org/keywords/parameter-uncertainty","display_name":"parameter uncertainty","score":0.718999981880188}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7986999750137329},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7146999835968018},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6126999855041504},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6026999950408936},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5726000070571899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4903999865055084},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4487000107765198},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4253999888896942},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4165000021457672},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4142000079154968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4129999876022339},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3984000086784363},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.39649999141693115},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.34130001068115234},{"id":"https://openalex.org/C45641319","wikidata":"https://www.wikidata.org/wiki/Q550768","display_name":"Electronic speed control","level":2,"score":0.334199994802475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3310000002384186},{"id":"https://openalex.org/C85761212","wikidata":"https://www.wikidata.org/wiki/Q1974593","display_name":"Transient response","level":2,"score":0.3276999890804291},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.3244999945163727},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.30649998784065247},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.2628999948501587},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.65154/ijmst.39","doi":"https://doi.org/10.65154/ijmst.39","is_oa":true,"landing_page_url":"https://doi.org/10.65154/ijmst.39","pdf_url":"https://i-jmst.vimaru.edu.vn/index.php/i-jmst/article/download/39/23","source":{"id":"https://openalex.org/S5407055270","display_name":"International Journal of Marine Science and Technology","issn_l":"3093-3609","issn":["3093-3609"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I73685970","host_organization_name":"Vietnam Maritime University","host_organization_lineage":["https://openalex.org/I73685970"],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Marine Science and Technology","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.65154/ijmst.39","doi":"https://doi.org/10.65154/ijmst.39","is_oa":true,"landing_page_url":"https://doi.org/10.65154/ijmst.39","pdf_url":"https://i-jmst.vimaru.edu.vn/index.php/i-jmst/article/download/39/23","source":{"id":"https://openalex.org/S5407055270","display_name":"International Journal of Marine Science and Technology","issn_l":"3093-3609","issn":["3093-3609"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I73685970","host_organization_name":"Vietnam Maritime University","host_organization_lineage":["https://openalex.org/I73685970"],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Marine Science and Technology","raw_type":"journal-article"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7806999087333679}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318276","display_name":"Tr\u01b0\u1eddng \u0110\u1ea1i h\u1ecdc H\u00e0ng h\u1ea3i Vi\u1ec7t Nam","ror":"https://ror.org/03z9fzp04"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7166646752.pdf","grobid_xml":"https://content.openalex.org/works/W7166646752.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2769959917","https://openalex.org/W2115034691","https://openalex.org/W4230574085","https://openalex.org/W3156350790","https://openalex.org/W2795223882","https://openalex.org/W2422694336","https://openalex.org/W1995088707","https://openalex.org/W2378915699","https://openalex.org/W2977332328","https://openalex.org/W2920836090"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,54,64,92,105],"challenge":[4],"of":[5,91],"robust":[6],"heading":[7],"control":[8,32,75],"for":[9,82],"Autonomous":[10],"Underwater":[11],"Vehicles":[12],"(AUVs)":[13],"operating":[14],"under":[15],"variable":[16],"speed":[17,116,141],"conditions,":[18],"subject":[19],"to":[20,59,77,128],"system":[21,106],"nonlinearities,":[22],"parametric":[23],"uncertainties,":[24],"and":[25,62,85,111,123,139],"actuator":[26,87],"constraints.":[27],"We":[28],"propose":[29],"a":[30,114,129],"hierarchical":[31],"architecture":[33],"that":[34,104],"integrates":[35],"Sliding":[36],"Mode":[37],"Control":[38,43],"(SMC)":[39],"with":[40],"an":[41],"optimization-based":[42],"Allocation":[44],"(CA)":[45],"scheme.":[46],"The":[47,67,89],"outer-loop":[48],"SMC":[49],"guarantees":[50],"robustness":[51],"by":[52],"computing":[53],"required":[55],"total":[56],"yaw":[57],"moment":[58],"reject":[60],"disturbances":[61],"track":[63],"reference":[65],"heading.":[66],"inner-loop":[68],"CA":[69],"then":[70],"optimally":[71],"distributes":[72],"this":[73],"virtual":[74],"effort":[76],"individual":[78],"actuators,":[79],"explicitly":[80],"accounting":[81],"saturation":[83],"limits":[84],"speed-dependent":[86],"effectiveness.":[88],"performance":[90],"proposed":[93],"SMC-CA":[94],"strategy":[95],"is":[96],"validated":[97],"through":[98],"comprehensive":[99],"numerical":[100],"simulations.":[101],"Results":[102],"indicate":[103],"maintains":[107],"high":[108],"tracking":[109],"accuracy":[110],"stability":[112],"across":[113],"wide":[115],"range,":[117],"demonstrating":[118],"significantly":[119],"faster":[120],"transient":[121],"response":[122],"superior":[124],"disturbance":[125],"rejection":[126],"compared":[127],"conventional":[130],"PID":[131],"controller":[132],"in":[133],"various":[134],"scenarios,":[135],"including":[136],"step":[137],"changes":[138],"abrupt":[140],"variations.":[142]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-07-01T00:00:00"}
