This study investigates the problem of asymptotic stabilization of underactuated surface vehicles (USVs) in the presence of simultaneous matched and mismatched disturbances. Within the framework of back-stepping control and by introducing a periodic term in the control laws of virtual yaw angle and surge velocity. a control design method is developed to stabilize the USVs into the bou... https://www.ealisboa.com/quick-offer-NEW-LED-Illumivein-Vein-Finder-Transilluminator-to-Find-Veins-for-Phlebotomy-and-IV-must-buy/