基于Backstepping的船舶航行自适应鲁棒非线性控制器设计-Design of Backsteping based adaptive robust nonlinear controller of ship course.

非线性反步法控制，是非线性控制理论的基础，对于研究非线性控制有很大的帮助(Nonlinear backstepping control is the foundation of nonlinear control theory, which is helpful to study nonlinear control)