Polar coordinate transformations reduce underactuated marine vessel tracking to a simpler feedback form, with exponential modification of orientation enabling singularity-free backstepping despite non-strict-feedback structure.
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PCT-Based Trajectory Tracking for Underactuated Marine Vessels
Polar coordinate transformations reduce underactuated marine vessel tracking to a simpler feedback form, with exponential modification of orientation enabling singularity-free backstepping despite non-strict-feedback structure.