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孙建，李伟，安思朦

Track keeping for underactuated surface ships based on variable structure active-disturbance rejection

SUN Jian，LI Wei，AN Si-meng

大连海事大学学报 . 2015, (3): 10 -14 . DOI: 10.16411/j.cnki.issn1006-7736.2015.03.002