This study investigates the problem of asymptotic stabilization of underactuated surface vehicles (USVs) in the presence of simultaneous matched and mismatched disturbances. Within the framework of back-stepping control and by introducing a periodic term in the control laws of virtual yaw angle and surge velocity. a control design method is developed to stabilize the USVs into the bou... https://www.roneverhart.com/S-mores-Snack-Mix-2LB-Bag/