# A decoupling controller by hierarchical backstepping method for straight-line tracking of unmanned surface vehicle

> Research article (Systems Science & Control Engineering, 2019) · cited 15× · AI/ML

**Wikidata**: [openalex:W2985952865](https://www.wikidata.org/wiki/openalex:W2985952865)  
**Source**: https://4ort.xyz/entity/a-decoupling-controller-by-hierarchical-backstepping-method-for-straight-line-tracking-of-unmanned-surface-vehicle