# Formation-containment control of multiple underactuated surface vessels with sampling communication via hierarchical sliding mode approach

> Research article (ISA Transactions, 2019) · cited 76× · AI/ML

**Wikidata**: [openalex:W2996328749](https://www.wikidata.org/wiki/openalex:W2996328749)  
**Source**: https://4ort.xyz/entity/formation-containment-control-of-multiple-underactuated-surface-vessels-with-sampling-communication-via-hierarchical-sli