# Predefined-time sliding mode formation control for multiple autonomous underwater vehicles with uncertainties

> Research article (Chaos Solitons & Fractals, 2021) · cited 61× · AI/ML

**Wikidata**: [openalex:W3125720040](https://www.wikidata.org/wiki/openalex:W3125720040)  
**Source**: https://4ort.xyz/entity/predefined-time-sliding-mode-formation-control-for-multiple-autonomous-underwater-vehicles-with-uncertainties