Nonlinear trajectory tracking control of a towed vessel by a single autonomous tug

Recommended citation: X. Zhu, J. Reis, and C. Silvestre, “Nonlinear trajectory tracking control of a towed vessel by a single autonomous tug,” Rob. Auton. Syst., no. 105829, p. 105829, Oct. 2026, doi: 10.1016/j.robot.2026.105829. (in press)

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