# Finite-time velocity-observed based adaptive output-feedback trajectory tracking formation control for underactuated unmanned underwater vehicles with prescribed transient performance

> Research article (Ocean Engineering, 2021) · cited 67× · AI/ML

**Wikidata**: [openalex:W3168018105](https://www.wikidata.org/wiki/openalex:W3168018105)  
**Source**: https://4ort.xyz/entity/finite-time-velocity-observed-based-adaptive-output-feedback-trajectory-tracking-formation-control-for-underactuated-unm