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The tracking and stabilizing control of a typical ship-mounted Mobile Satellite Communication System (MSCS) is studied in this paper. Severe parametric uncertain-ties and uncertain nonlinearities exist in the dynamic model of the MSCS. Therefore, a discontinuous projection-based Desired Compensation Adaptive Robust Control (DCARC) strategy is adopted to compensate for both the parametric uncertainties and the uncertain nonlinearities to achieve precise posture trajectory tracking control. The resulting controller accurately tracks the desired posture and effectively handles the effects of various parameter variations and the hard-to-model nonlinearities. The designed DCARC controller and other three controllers are tested in the comparative simulations under three different situations. The simulation results show the tracking and stabilizing validity of the proposed controller.
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