H∞ control is nowadays used in many applications. This control technique enables to
synthesize control laws which are robust with respect to external disturbances. Moreover, it …

In modern times, competition and confrontation in the oceans between countries are
increasing due to conflict factors such as sovereignty, maritime channels, and marine …

This work seeks to mitigate the effects of constraints on mobile robotic systems. To this end,
auxiliary control loops and robust tuning techniques are proposed. The former are proposed …