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Trajectory tracking nonlinear model predictive control for autonomous surface craft Journal article
IEEE Transactions on Control Systems Technology, 2014,Volume: 22,Issue: 6,Page: 2160-2175
作者:  Guerreiro B.J.;  Silvestre C.;  Cunha R.;  Pascoal A.
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Marine Vehicles  Predictive Control  Trajectory Tracking.