# Anti-saturation distributed fixed-time prescribed performance sliding mode formation control based on FXESO for uncertain USVs

> Research article (Ocean Engineering, 2024) · cited 15× · AI/ML

**Wikidata**: [openalex:W4405773786](https://www.wikidata.org/wiki/openalex:W4405773786)  
**Source**: https://4ort.xyz/entity/anti-saturation-distributed-fixed-time-prescribed-performance-sliding-mode-formation-control-based-on-fxeso-for-uncertai