# Nonlinear Model Predictive Control for trajectory tracking and collision avoidance of underactuated vessels with disturbances

> Research article (Ocean Engineering, 2018) · cited 191× · AI/ML

**Wikidata**: [openalex:W2802228104](https://www.wikidata.org/wiki/openalex:W2802228104)  
**Source**: https://4ort.xyz/entity/nonlinear-model-predictive-control-for-trajectory-tracking-and-collision-avoidance-of-underactuated-vessels-with-disturb