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Nonlinear Backstepping Controller for an Underactuated ASV With Model Parametric Uncertainty: Design and Experimental Validation

Joel Reis, Wei Xie, David Cabecinhas, Carlos Silvestre. Nonlinear Backstepping Controller for an Underactuated ASV With Model Parametric Uncertainty: Design and Experimental Validation. IEEE Trans. Intelligent Vehicles, 8(3):2514-2526, March 2023. [doi]

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