An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently. an active path tracking strategy of the trawl system based on the backstepping method... https://www.kaliboat.com/product-category/frozen-beverage-dispensersfrozen-drink/