# Event-triggered predefined-time H∞ formation control for multiple underactuated surface vessels with error constraints and input quantization

> Research article (Ocean Engineering, 2023) · cited 27× · AI/ML

**Wikidata**: [openalex:W4362630927](https://www.wikidata.org/wiki/openalex:W4362630927)  
**Source**: https://4ort.xyz/entity/event-triggered-predefined-time-h-formation-control-for-multiple-underactuated-surface-vessels-with-error-constraints-an