A Model-Based Decoupling Method for Surge Speed and Heading Control in Vessel Path Following

<div>Heading control results in path following under different disturbances. (a) Heading control results under different disturbances. (b) Steering moment under different disturbances.</div>

Mathematical Problems in Engineering

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Figure 6

Figure 6: A Model-Based Decoupling Method for Surge Speed and Heading Control in Vessel Path Following 