Control of fully actuated ocean surface vessels using a class of feedforward approximators

Abstract

In this brief, we consider the problem of tracking a desired trajectory for fully actuated ocean vessels, in the presence of uncertainties and unknown disturbances. The combination of approximation-based and domination design techniques allows us to handle time-varying disturbances, without the need for explicit knowledge of the bounds. Using backstepping… (More)
DOI: 10.1109/TCST.2006.872507

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@article{Tee2006ControlOF, title={Control of fully actuated ocean surface vessels using a class of feedforward approximators}, author={Keng Peng Tee and Shuzhi Sam Ge}, journal={IEEE Transactions on Control Systems Technology}, year={2006}, volume={14}, pages={750-756} }