Non-linear and adaptive backstepping des
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J.-M. Godhavn; T. I. Fossen; S. P. Berge
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Article
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1998
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John Wiley and Sons
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English
โ 248 KB
๐ 2 views
In this paper two non-linear control laws for ships are derived by using a non-linear ship model which includes the hydrodynamic e ects due to time-varying speed and wave frequency. The non-linear ship model does not have the structural properties of symmetric inertia and positive damping at high sp