# Fixed-time velocity-free safe formation control of AUVs with actuator saturation and unknown disturbances

> Research article (Ocean Engineering, 2023) · cited 11× · AI/ML

**Wikidata**: [openalex:W4384264541](https://www.wikidata.org/wiki/openalex:W4384264541)  
**Source**: https://4ort.xyz/entity/fixed-time-velocity-free-safe-formation-control-of-auvs-with-actuator-saturation-and-unknown-disturbances