In this paper. a nonlinear adaptive heading controller is developed for an underactuated surface vessel with constrained input and sideslip angle compensation. The controller design is accomplished in a framework of backstepping technique. First. https://thegreensjunglebeautyshops.shop/product-category/cheek-lips/
NONLINEAR ADAPTIVE HEADING CONTROL FOR AN UNDERACTUATED SURFACE VESSEL WITH CONSTRAINED INPUT AND SIDESLIP ANGLE COMPENSATION
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