# Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation

> Research article (ISA Transactions, 2017) · cited 169× · AI/ML

**Wikidata**: [openalex:W2775289694](https://www.wikidata.org/wiki/openalex:W2775289694)  
**Source**: https://4ort.xyz/entity/leader-follower-formation-control-of-underactuated-surface-vehicles-based-on-sliding-mode-control-and-parameter-estimati