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Abstract

In this chapter, we classify the basic motion tasks for ocean vessels and their mathematical models, which will be used for the design of various control systems in the subsequent chapters.

Keywords

Underwater Vehicle Nonholonomic Constraint Propulsion Force Moment Vector Reference Path 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 2009

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