NONLINEAR ADAPTIVE HEADING CONTROL FOR AN UNDERACTUATED SURFACE VESSEL WITH CONSTRAINED INPUT AND SIDESLIP ANGLE COMPENSATION
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, to amend the irrationality of the traditional definit...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering and Naval Architecture
2020-01-01
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| Series: | Brodogradnja |
| Subjects: | |
| Online Access: | https://hrcak.srce.hr/file/353339 |