# Improved decentralized finite-time formation control of underactuated USVs via a novel disturbance observer

> Research article (Ocean Engineering, 2019) · cited 87× · AI/ML

**Wikidata**: [openalex:W2914860046](https://www.wikidata.org/wiki/openalex:W2914860046)  
**Source**: https://4ort.xyz/entity/improved-decentralized-finite-time-formation-control-of-underactuated-usvs-via-a-novel-disturbance-observer