# Predefined-Time Bipartite Time-Varying Formation Tracking Control of Networked Autonomous Surface Vehicles via Hierarchical Control Approach

> Research article (IEEE Transactions on Vehicular Technology, 2024) · cited 34× · AI/ML

**Wikidata**: [openalex:W4391696954](https://www.wikidata.org/wiki/openalex:W4391696954)  
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