In this episode, we unpack a groundbreaking control scheme for USVs that guarantees prescribed-time arrival even under currents, wind, and model uncertainties. Learn how disturbance observers, an event-triggered controller, and the prescribed-time lumped disturbance observer (PTLDO) work together, plus Lyapunov-based stability, practical considerations like actuator saturation and anti-windup, and why this matters for missions where every second counts. Part 1 of a two-part deep dive into the theory and models.

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