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- W2754294014 abstract "The path-following control problem is considered for a 3 degree-of-freedom underactuated surface vessel with disturbances. The Serret-Frenet coordinate and nonlinear state transformations are used to transform the system into a SISO nonlinear chained system. By using the disturbance observer to compensate the influence of external dynamic disturbance, a composite generalized predictive anti-disturbance controller, which integrate the nonlinear disturbance observer with the feedback loop, is proposed. The controller guarantees that the system state trajectories can asymptotically track the given reference trajectories. The numerical simulations demonstrate the validity of the antidisturbance control strategy." @default.
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- W2754294014 date "2017-07-01" @default.
- W2754294014 modified "2023-10-18" @default.
- W2754294014 title "Disturbance-observer-based path following predictive controller for underactuated surface vessels" @default.
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- W2754294014 doi "https://doi.org/10.23919/chicc.2017.8027419" @default.
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