# Observer-based adaptive integral terminal sliding mode formation control for a vessel train with obstacle avoidance

> Research article (Ocean Engineering, 2023) · cited 22× · AI/ML

**Wikidata**: [openalex:W4381188027](https://www.wikidata.org/wiki/openalex:W4381188027)  
**Source**: https://4ort.xyz/entity/observer-based-adaptive-integral-terminal-sliding-mode-formation-control-for-a-vessel-train-with-obstacle-avoidance