Model-enhanced control for cyber-physical security: simulation of model-based navigation of an environment-coupled watercraft under disrupted global positioning conditionsUdal, Andres; Kaugerand, Jaanus; Astrov, Igor; Mõlder, Heigo; Koit, Katre2025 MIPRO 48th ICT and Electronics Convention2025 / p. 794-799 : ill https://doi.org/10.1109/MIPRO65660.2025.11131811 Article at Scopus Wind force model and adaptive control of catamaran model sailboatAstrov, Igor; Udal, Andres; Mõlder, Heigo; Jalakas, Tanel; Möller, Taavi2022 8th International Conference on Automation, Robotics and Applications, ICARA 20222022 / p. 202-208 : ill https://doi.org/10.1109/ICARA55094.2022.9738524