This study uses a port-Hamiltonian framework to address trajectory tracking control for unmanned surface vessels (USVs) under unknown disturbances. A passivity-based sliding mode controller is designed, integrating adaptive disturbance estimation and an RBFNN-based uncertainty estimator. Stability is rigorously proven, and simulations confirm superior tracking performance, strong disturbance rejection, and accurate uncertainty...

The Yulong Snow Mountain (YSM) is a region of temperate glaciers in the southeast Qinghai-Tibetan Plateau. The present study systematically assessed the glacier changes during the past several decades using ground-based and remotely sensed observations and referencing topographic maps. The images and maps revealed that the glaciers area in the YSM retreated by 64.02% from 1957 to 2017. The length of Baishui River Glacier No. 1...