# Adaptive Auto-Berthing Control of Underactuated Vessel Based on Barrier Lyapunov Function

> Research article (Journal of Marine Science and Engineering, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4213057478](https://www.wikidata.org/wiki/openalex:W4213057478)  
**Source**: https://4ort.xyz/entity/adaptive-auto-berthing-control-of-underactuated-vessel-based-on-barrier-lyapunov-function