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Optimal Tracking Control of an Underactuated Container Ship Based on Direct Gauss Pseudospectral Method

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Figure

Figure 1 depicts the states of container ship dynamics, together with actuator dynamics of the vessel, for P = 10 2 , Q = 0 and R = 0
Figure 3. Simulation results of the ship response with dierent roll constraints.
Figure 5. The states of ship dynamic model for course changing maneuver.

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