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Article Type: Research Papers
J. Dyn. Sys., Meas., Control. March 2009, 131(2): 021006.
Published Online: February 4, 2009
...Jawhar Ghommam; Faïçal Mnif; Abederraouf Benali; Nabil Derbel In this paper we develop a new control law to steer an underactuated surface vessel along a predefined path at a constant forward speed controlled by the main thruster system. The methodology is based on the Serret–Frenet formulation...