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An enhanced backstepping approach for motion control of underactuated autonomous surface vessels with input constraints.
Reza Dehghani
Esmaeil Abedi
Published in:
Trans. Inst. Meas. Control (2018)
Keyphrases
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motion control
physical constraints
autonomous navigation
mobile robot
control system
autonomous robots
three dimensional
robotic systems
motion planning
mechanical systems
surface reconstruction
kinematic model
robot control
control strategy
control algorithm
closed loop
real time