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ROBUST CONTROL OF A SURFACE VESSEL WITH ADAPTIVE COMPENSATION OF PARAMETRICALLY UNCERTAIN SINUSOIDAL DISTURBANCES

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The problem of station-keeping a surface vessel under the action of sinusoidal disturbances with unknown parameters is solved. The proposed control algorithm is based on the geometric approach with the use of the adaptive internal model and the extended observer. The boundedness of the trajectories of the system and their semiglobal convergence to an arbitrarily small set are analytically proven. The performance of the algorithm is illustrated by computer simulation.

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