# Formation Control of Unmanned Vessels with Saturation Constraint and Extended State Observation

> Research article (Journal of Marine Science and Engineering, 2021) · cited 12× · AI/ML

**Wikidata**: [openalex:W3183889100](https://www.wikidata.org/wiki/openalex:W3183889100)  
**Source**: https://4ort.xyz/entity/formation-control-of-unmanned-vessels-with-saturation-constraint-and-extended-state-observation