# Finite-time coordinated formation control of discrete-time multi-AUV with input saturation under alterable weighted topology and time-varying delay

> Research article (Ocean Engineering, 2022) · cited 19× · AI/ML

**Wikidata**: [openalex:W4308498692](https://www.wikidata.org/wiki/openalex:W4308498692)  
**Source**: https://4ort.xyz/entity/finite-time-coordinated-formation-control-of-discrete-time-multi-auv-with-input-saturation-under-alterable-weighted-topo