基于改进切换增益自适应率的欠驱动USV滑模轨迹跟踪控制
于瑞,徐雪峰,周华,杨华勇

Improved switching-gain adaptation based sliding mode control for trajectory tracking of underactuated unmanned surface vessels
Rui YU,Xue-feng XU,Hua ZHOU,Hua-yong YANG
图 4 欠驱动无人艇的跟踪误差
Fig.4 Tracking errors of underactuated USV