[1] ZHANG X K, ZHANG G Q, ZHANG S H et al. Researches on the williamson turn for very large carriers[J]. Naval Engineers Journal, 125, 130-120(2013).

[2] MOREIRA L, FOSSEN T I, SOARES C G. Path following control system for a tanker ship model[J]. Ocean Engineering, 34, 2074-2085(2007).

[6] ZHU G B, MA Y, LI Z X et al. Event-triggered adaptive neural fault-tolerant control of underactuated MSVs with input saturation[J]. IEEE Transactions on Intelligent Transportation Systems, 229, 1-13(2021).

[7] ZHANG G Q, LIU S, LI J Q et al. LVS guidance principle and adaptive neural fault-tolerant formation control for underactuated vehicles with the event-triggered input[J]. Ocean Engineering, 229, 108927(2021).

[8] ALESSANDRI A, CACCIA M, VERUGGIO G. Fault detection of actuator faults in unmanned underwater vehicles[J]. Control Engineering Practice, 7, 357-368(1999).

[10] PEREZ T, DONAIRE A. Constrained control design for dynamic positioning of marine vehicles with control allocation[J]. Modeling, Identification and Control, 30, 57-70(2009).

[11] CHEN X T, TAN W W. Tracking control of surface vessels via fault-tolerant adaptive backstepping interval type-2 fuzzy control[J]. Ocean Engineering, 70, 97-109(2013).

[12] ZHANG G Q, ZHANG X K, ZHENG Y F. Adaptive neural path-following control for underactuated ships in fields of marine practice[J]. Ocean Engineering, 104, 558-567(2015).

[14] ZHANG G Q, ZHANG X K. A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning[J]. ISA Transactions, 56, 75-85(2015).

[15] WU R, DU J L. Adaptive robust course-tracking control of time-varying uncertain ships with disturbances[J]. International Journal of Control, Automation and Systems, 17, 1847-1855(2019).