ObjectiveThis study aims to solve the problem of path-following control under environmental disturbances and model uncertainties. especially the effects of external wind and wave environments. MethodBased on a model predictive control (MPC) controller. improved model-free adaptive control (IMFAC) is introduced as the path following control compensator. https://xzwzodfwf1x5.dsiblogger.com/67921501/desenvolvimento-do-pensamento-crítico-por-meio-do-estudo-de-lógica-argumentativa-na-alfabetização-científica