Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels

@article{Li2009DesignAA,
  title={Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels},
  author={Z. Li and J. Sun and Soryeok Oh},
  journal={Autom.},
  year={2009},
  volume={45},
  pages={1649-1658}
}
The problem of path following for marine surface vessels using the rudder angle is addressed in this paper. A four-degree-of-freedom nonlinear surface vessel model, together with the Serret-Frenet equations, is introduced to describe the ship dynamics and path following error dynamics. While similar models have been used and reported in the literature for path following control algorithm development, the novelty of the approach presented in this work lies in the following aspects. (a) The back… Expand
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Abstract The problem of path following for marine surface vessels using rudder angle is addressed in this paper. A 4 degrees of freedom nonlinear surface vessel model, together with the Serret-FrenetExpand
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