# Fixed-time formation control for AUVs with unknown actuator faults based on lumped disturbance observer

> Research article (Ocean Engineering, 2023) · cited 23× · AI/ML

**Wikidata**: [openalex:W4313487639](https://www.wikidata.org/wiki/openalex:W4313487639)  
**Source**: https://4ort.xyz/entity/fixed-time-formation-control-for-auvs-with-unknown-actuator-faults-based-on-lumped-disturbance-observer