# Leader–follower close formation control for underactuated surface vessel via terminal hierarchical sliding mode

> Research article (International Journal of Advanced Robotic Systems, 2020) · cited 14× · AI/ML

**Wikidata**: [openalex:W3025761030](https://www.wikidata.org/wiki/openalex:W3025761030)  
**Source**: https://4ort.xyz/entity/leaderfollower-close-formation-control-for-underactuated-surface-vessel-via-terminal-hierarchical-sliding-mode