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Proceedings of the 2010 American Control Conference
A review of different approaches to setpoint, trajectory tracking, and path following control for autonomous underactuated surface vessels is presented in this work. The review is focused on rigorous control approaches developed using planar autonomous surface vessel models over approximately the last two decades. The controllers are categorized into setpoint, trajectory tracking, and path following approaches with further classification into discontinuous and smooth timevarying control lawsdoi:10.1109/acc.2010.5530450 fatcat:72v3df36q5agpcxcq4m4njvuqi