This paper focuses on the accurate path following problem for an underactuated unmanned surface vehicle with uncertainties and environment disturbances. The proposed scheme can be divided into guidance loop control loop: in loop, law is utilized to calculate desired yaw angle, as well estimating unknown currents sideslip angle simultaneously; a novel robust developed by enhanced trajectory line...

BACKGROUND Mathematical modeling of cardiovascular magnetic resonance perfusion data allows absolute quantification of myocardial blood flow. Saturation of left ventricle signal during standard contrast administration can compromise the input function used when applying these models. This saturation effect is evident during application of standard Fermi models in single bolus perfusion data. Du...