The inspiration for snake robots comes from biological snakes. Snakes display superior
mobility capabilities and can move over virtually any type of terrain, including narrow and …

In this note, we study a distributed coordinated tracking problem for multiple networked Euler-
Lagrange systems. The objective is for a team of followers modeled by full-actuated Euler …

In this brief, a finite-time unknown observer-based interactive trajectory tracking control (FUO-
ITTC) scheme is created for an asymmetric underactuated surface vehicle (AUSV). In lieu of …

In this paper, we address the tracking problem for an underactuated ship using two controls,
namely surge force and yaw moment. A simple state-feedback control law is developed and …

Robust path following is an issue of vital practical importance to the ship industry. In this
paper, a nonlinear robust adaptive control strategy is developed to force an underactuated …

A controller is developed for underactuated surface ships with only surge force and yaw
moment available to globally asymptotically track a reference trajectory generated by a …

The uniform global finite-time stability is discussed for a cascaded time-varying system
consisting of two uniformly finite-time stable subsystems. It is shown that a forward …

A global nonsmooth stabilization scheme is presented for a class of nonlinear cascaded
systems with uncontrollable linearization. A stepwise constructive control methodology is …

The problem of formation control and path following for underactuated 3-degrees-of-freedom
(3-DOF) marine surface vessels is considered. The proposed decentralized controller makes …

At the occasion of Eduardo D. Sontag's 70th birthday, we provide here an overview of the
tools available to study input-to-state stability (ISS) and related notions for time-delay …