Abstract
This paper presents a nonlinear trajectory tracking controller for an autonomous surface craft under the presence of external time-varying environmental disturbances generated by wind, wave and ocean current. The proposed controller is able to drive the craft towards an arbitrarily small neighborhood of a smooth desired trajectory, obtaining global practical stability as the vehicle eventually remains within that neighborhood for all time. To demonstrate the efficacy of the designed control strategy, we give and analyze simulation results.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
