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Adaptive Control for Surface Vessel Tracking by dfhdhfha is a document available to read on EtoBox.
This article presents an adaptive trajectory tracking control method for fully actuated surface vessels facing asymmetric input and output constraints. The proposed controller utilizes a backstepping technique and incorporates a time-varying barrier Lyapunov function to manage output constraints, along with a smooth hyperbolic tangent function to address input saturation issues. Simulation results demonstrate the effectiveness of the control approach, ensuring that constraints are not violated and system st
- Author
- dfhdhfha
- Language
- EN