00664naa#a2200205#i#450# EN\\bibl\103382 20251210112206.3 2073-1574 20250821b2025####ek#y0engy0150####ca RU Algorithm for yaw stabilization of a towed vessel Journal article Astrakhan Astrakhan State Technical University 2025 4 с. Journal article local Буксировка. 656.618.1 Yakubovich Mihail Iosifovich Kuznetsova Olga Borisovna Penkovskaya Kseniya Vyacheslavovna Poznyakov Sergey Ivanovich vestnik.astu.ru