# Formation Control of Multiple Underactuated Surface Vessels with a Disturbance Observer

> Research article (Journal of Marine Science and Engineering, 2022) · cited 23× · AI/ML

**Wikidata**: [openalex:W4287832048](https://www.wikidata.org/wiki/openalex:W4287832048)  
**Source**: https://4ort.xyz/entity/formation-control-of-multiple-underactuated-surface-vessels-with-a-disturbance-observer