Adaptive immersion and invariance induced optimal robust control of unmanned surface vessels with structured/unstructured uncertainties
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DOI: 10.1016/j.oceaneng.2021.109792
Abstract: Abstract This paper addresses the path-tracking performance improvement of unmanned surface vessels (USVs) through a novel adaptive immersion and invariance (I&I) based robust adaptive control algorithm. The substantial drawback related to the control of USVs… read more here.
Keywords: adaptive immersion; immersion invariance; control; surface vessels ... See more keywords