In this paper. a nonlinear adaptive heading controller is developed for an underactuated surface vessel with constrained input and sideslip angle compensation. The controller design is accomplished in a framework of backstepping technique. First. https://www.nacrack.com/hot-choice-Open-Box-Verona-Wig-by-BelleTress-Heat-Friendly-Synthetic-Hair-Average-Cap-Buttered-Toast-R-great-buy/