# Nonlinear Extended State Observer-Based Distributed Formation Control of Multiple Vessels with Finite-Time Prescribed Performance

> Research article (Journal of Marine Science and Engineering, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4319082360](https://www.wikidata.org/wiki/openalex:W4319082360)  
**Source**: https://4ort.xyz/entity/nonlinear-extended-state-observer-based-distributed-formation-control-of-multiple-vessels-with-finite-time-prescribed-pe