Containment Control of Underactuated Ships with Environment Disturbances and Parameter Uncertainties

Table 1

Parameters of ships.

Parameter	Value	Unit
	25.8	kg
	33.8	kg
	2.76	kg⋅m^2
	12	kg/s
	2.5	kg/m
	17	kg/s
	4.5	kg/m
	0.2	kg
	0.5	kg⋅m^2/s
	0.1	kg⋅m^2
	0.5	kg