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A Predictive Sliding Mode Cascade Controller for Nonholonomic Autonomous Systems

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Figure

Fig. 2 is considered. This model includes surge, sway, and The 3-DOF planar model of a surface vessel shown in yaw motion with two propeller force inputs f1 and f2
Fig. 3.  Experimental and simulated paths: Case 1
Fig. 7.  Simulated USV path: trajectory tracking SMC
Fig. 9.  Control input vector parameterization
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