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    Path following control of underactuated ships based on unscented Kalman filter

    A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined path. The controller is based on analytic model predictive control and ...

    **ao-fei Wang 王晓飞, Zao-jian Zou 邹早建… in Journal of Shanghai Jiaotong University (S… (2010)