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张显库，杨光平，张强

A kind of bipolar sigmoid function decorated nonlinear ship course keeping algorithm

ZHANG Xian-ku, YANG Guang-ping, ZHANG Qiang

大连海事大学学报 . 2016, (3): 15 -19 . DOI: 10.16411/j.cnki.issn1006-7736.2016.03.003