THROUGH THE PRISM OF METAPHOR: A CASE STUDY OF THE US AND UK POLITICAL DISCOURSE ON THE UKRAINE CONFLICT



NONLINEAR ADAPTIVE HEADING CONTROL FOR AN UNDERACTUATED SURFACE VESSEL WITH CONSTRAINED INPUT AND SIDESLIP ANGLE COMPENSATION

In this paper, a nonlinear adaptive heading controller is developed for an underactuated surface vessel with constrained input and sideslip angle compensation.The controller design is accomplished in a framework of backstepping technique.First, to amend the irrationality of the traditional definition of the desired heading, the desired heading is c

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