摘要：这份报纸论述在经常或慢的变化时间的海负担下面强迫 underactuated 轮船 asymptotically 追踪一条 parameterized 参考书路径的新控制器的一个建设性的图案，那总是从轮船保证距离到参考书路径在指定价值以内。控制设计基于一个全球指数的骚乱观察员，到一种几乎球形的形式的轮船动力学的转变，在一个修理地球的框架的追踪的错误的解释，动态变量的介绍补偿参考书路径产生的松驰，p乘可辨的步功能，并且 backstepping 和 Lyapunovs 指导方法。建议结果的有效性通过模拟被说明。

摘要：这份报纸关于一个有意义的费用函数论述最佳的控制器的一个图案强迫 underactuated 在到磁道的未知经常的环境负担下面的全向的聪明的导航者(最高之神) 在二维的空格的一条引用轨道。由驾驶实践的车辆激发了，当加巨浪的虚拟控制插入了力量，考虑的 yaw 角度被用来强迫车辆的位置全球性追踪它的参考书轨道。控制设计基于为反的最佳的控制和非线性的系统，围住的骚乱观察员的一个新图案，和 backstepping 和 Lyapunovs 直接方法的稳定性分析开发的几最近的结果。州反馈并且产量反馈控制图案被探讨。模拟被包括说明建议结果的有效性。

摘要：A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.

摘要：In this paper,recent results controling nonlinear systems with output tracking error constraints are applied to the design of new tracking controllers for magnetic *** proposed controllers can force the rotor to track a bounded and sufficiently smooth reference trajectory asymptotically and guarantee non-contactedness between the rotor and the stator of the magnetic *** results are included to illustrate the effectiveness of the proposed controllers.