It is generally assumed in dynamic positioning of over-actuated marine vessels that the
control effectiveness matrix (input matrix) is known and constant, or, in case of fault …

This paper proposes a pre-filter based sliding mode approach to control the steering system
in ocean going vessels. The stability conditions of vessel steering in linear and nonlinear …

In this article, a sliding mode control scheme for the autopilot system of a ship is presented,
which also incorporates actuator saturation. Under the designed controller, the actuator …

The article discusses the problem of designing a proper and efficient adaptive course-
keeping control system for a seagoing ship based on the adaptive backstepping method …

This paper focuses on the Lyapunov, Hurwitz and PID based control approaches for an input–
output linearisation applied nonlinear vessel steering system. A mathematical model of the …

This paper addresses the problem of trajectory tracking control of a surface vessel subject to
parametric uncertainties, external disturbances, and thruster faults. A novel robust fault …

It is essential to describe a ship's manoeuvrability for various applications, eg optimal control
of unmanned surface vehicles (USVs). In this study, the capability of two recognised …

In this paper, an adaptive complementary sliding mode control strategy based on nonlinear
extended state observer (NESO) is proposed for the ship course tracking control subject to …

A scheme to solve the course keeping problem of the unmanned surface vehicle with
nonlinear and uncertain characteristics and unknown external disturbances is investigated …

The paper investigates the sensitivity of safe ship control to inaccurate data from the ARPA
anti-collision radar system and to changes in the process control parameters. The system …