# Model-free Predictive Trajectory Tracking Control and Obstacle Avoidance for Unmanned Surface Vehicle With Uncertainty and Unknown Disturbances via Model-free Extended State Observer

> Research article (International Journal of Control Automation and Systems, 2024) · cited 14× · AI/ML

**Wikidata**: [openalex:W4399105049](https://www.wikidata.org/wiki/openalex:W4399105049)  
**Source**: https://4ort.xyz/entity/model-free-predictive-trajectory-tracking-control-and-obstacle-avoidance-for-unmanned-surface-vehicle-with-uncertainty-a