Nonlinear backstepping controller for an underactuated ASV with model parametric uncertainty: Design and experimental validation

Recommended citation: J. Reis, W. Xie, D. Cabecinhas, and C. Silvestre, “Nonlinear backstepping controller for an underactuated ASV with model parametric uncertainty: Design and experimental validation,” IEEE Trans. Intell. Veh., vol. 8, no. 3, pp. 2514–2526, Mar. 2023, doi: 10.1109/tiv.2022.3221739.

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