Advanced path-following control of unmanned surface vessels using fully actuated system theory
Transactions of the Institute of Measurement and Control
Published online on July 23, 2026
Abstract
Transactions of the Institute of Measurement and Control, Ahead of Print.
This paper proposes a novel cascaded path-following control architecture for unmanned surface vessels. By utilizing fully actuated system theory as a dynamic linearization interface, the inner loop transforms underactuated dynamics into a decoupled fully ...
This paper proposes a novel cascaded path-following control architecture for unmanned surface vessels. By utilizing fully actuated system theory as a dynamic linearization interface, the inner loop transforms underactuated dynamics into a decoupled fully ...