Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels.

Zhen Li Jing Sun Soryeok Oh Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels. 1649-1658 2009 45 Automatica 7 http://dx.doi.org/10.1016/j.automatica.2009.03.010 db/journals/automatica/automatica45.html#LiSO09