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Figure1

From:  Extended state observer-based fault-tolerant control for an unmanned surface vehicle under asynchronous injection and deception attacks
Extended state observer-based fault-tolerant control for an unmanned surface vehicle under asynchronous injection and deception attacks

Figure 1. The sway-yaw-roll motion of USV illustrated in body-fixed coordinate frame.

Complex Engineering Systems
ISSN 2770-6249 (Online)
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