New cascade approach for global κ-exponential tracking of underactuated ships

Engineering

• Persistent Excitation Condition 100%
• Simulation Result 33%
• Reference Signal 33%
• Detectability 33%

Keyphrases

• Cascade Structure 33%
• Decoupling Controller 33%
• Novel Transform 33%
• Fast Tracking Control 33%
• Global Exponential Convergence 33%
• Computed Torque Control 33%