# Distributed fixed-time formation tracking control for multiple underactuated USVs with lumped uncertainties and input saturation

> Research article (ISA Transactions, 2024) · cited 24× · AI/ML

**Wikidata**: [openalex:W4401972756](https://www.wikidata.org/wiki/openalex:W4401972756)  
**Source**: https://4ort.xyz/entity/distributed-fixed-time-formation-tracking-control-for-multiple-underactuated-usvs-with-lumped-uncertainties-and-input-sa