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• W2980960119 abstract "In this paper, the output feedback path following problem for marine vessels is investigated with model uncertainties and external disturbance. A Serret-Frenet frame based path following kinematics is first introduced. For the output feedback control design, an iterative learning observer (ILO) is established to estimate the system states, and a novel sliding mode backstepping approach is presented, which makes the control gain parameters easy for tuning. The overall closed-loop system is uniformly ultimately bounded based on Lyapunov stability theory. Comparative simulation results validate the effectiveness and disturbance rejection performance of the proposed methodology." @default.
• W2980960119 created "2019-10-25" @default.
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• W2980960119 date "2019-07-01" @default.
• W2980960119 modified "2023-09-23" @default.
• W2980960119 title "Iterative Learning Based Output Feedback Path Following Control for Marine Surface Vessels" @default.
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• W2980960119 doi "https://doi.org/10.23919/chicc.2019.8866260" @default.
• W2980960119 hasPublicationYear "2019" @default.
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