Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents (Q3592347)

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Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents
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    Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents (English)
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    12 September 2007
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    nonlinear adaptive controller
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    exponential observer
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    Lyapunov techniques
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    model parameter uncertainty
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