Environmental disturbances and systematical uncertainties are the main obstacles for ship
motion control. This paper devotes to enhancing the control system robustness of …

To enhance the control system robustness of an underactuated surface vessel with model
uncertainties and environmental disturbances, a robust adaptive trajectory tracking …

This brief proposes an adaptive sliding mode control law for an underactuated vessel via
parameter estimation to follow a desired path. An adaptive continuous PI sliding mode …

An optimal sliding mode control (SMC) with state observer is presented for trajectory tracking
of under-actuated ships with the model uncertainties, environmental disturbances, input …

Considering the complexity of the operating environment of marine ships, higher demands
are placed on the positioning accuracy and positioning performance of Dynamic Positioning …

Adaptive robust controllers are proposed for trajectory tracking and stabilization of
underactuated surface vessels simultaneously in this paper. Hierarchical sliding mode is …

This paper focuses on adaptive integral sliding mode control for a class of underactuated
autonomous underwater vehicles (AUVs) with uncertain dynamics, where the vehicles …

A method of backstepping adaptive dynamical sliding mode control is presented for the path
following control system of the underactuated surface vessel. The system consists of the …

An adaptive sliding mode control algorithm based on radial basis function neural networks
(RBF-NNs) is proposed to solve the problems of external disturbances, internal model …

In this paper, a new control methodology is developed to enhance the tracking performance
of fully actuated surface vessels based on an integrating between an adaptive integral …