# An Improved Dynamic Surface Sliding Mode Method for Autonomous Cooperative Formation Control of Underactuated USVS with Complex Marine Environment Disturbances

> Research article (Polish Maritime Research, 2022) · cited 26× · AI/ML

**Wikidata**: [openalex:W4312827573](https://www.wikidata.org/wiki/openalex:W4312827573)  
**Source**: https://4ort.xyz/entity/an-improved-dynamic-surface-sliding-mode-method-for-autonomous-cooperative-formation-control-of-underactuated-usvs-with-