# Predictive compensator based event-triggered model predictive control with nonlinear disturbance observer for unmanned surface vehicle under cyber-attacks

> Research article (Ocean Engineering, 2022) · cited 61× · AI/ML

**Wikidata**: [openalex:W4285082276](https://www.wikidata.org/wiki/openalex:W4285082276)  
**Source**: https://4ort.xyz/entity/predictive-compensator-based-event-triggered-model-predictive-control-with-nonlinear-disturbance-observer-for-unmanned-s