另一方面，在我看来，大约3年前开始AS5这一艰难的航程时，没人能全然清楚它的航向。
On the other hand, the sheer scope of AS5 was something that, in my opinion, nobody had realized when this effort started about 3 years ago.
本文对基于动态面控制方法的不确定非线性系统的控制理论及其在船舶航向控制中的应用进行了研究。
The control problem of uncertain nonlinear system based on the dynamic surface control method is proposed, and its application to ship course controller is studied in this paper.
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