# Cooperative trajectory tracking control of MUSVs with periodic relative threshold event-triggered mechanism and safe distance

> Research article (Ocean Engineering, 2023) · cited 22× · AI/ML

**Wikidata**: [openalex:W4313487675](https://www.wikidata.org/wiki/openalex:W4313487675)  
**Source**: https://4ort.xyz/entity/cooperative-trajectory-tracking-control-of-musvs-with-periodic-relative-threshold-event-triggered-mechanism-and-safe-dis