Global path-following control of stochastic underactuated ships: A level curve approach
A level curve approach is introduced to design global path-following controllers for an underactuated surface ship. The approach is based on the observation: if the position of the ship satisfies the equation of the reference path, then the ship will be on the path. Thus, the controllers are designe...
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| Format: | Journal Article |
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American Society of Mechanical Engineers (ASME)
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/41706 |