# Formation tracking control for underactuated surface vehicles with actuator magnitude and rate saturations

> Research article (Ocean Engineering, 2022) · cited 26× · AI/ML

**Wikidata**: [openalex:W4285792307](https://www.wikidata.org/wiki/openalex:W4285792307)  
**Source**: https://4ort.xyz/entity/formation-tracking-control-for-underactuated-surface-vehicles-with-actuator-magnitude-and-rate-saturations