# Robust Bearing-Based Formation Tracking Control of Underactuated Surface Vessels: An Output Regulation Approach

> Research article (IEEE Transactions on Control of Network Systems, 2023) · cited 28× · AI/ML

**Wikidata**: [openalex:W4328007651](https://www.wikidata.org/wiki/openalex:W4328007651)  
**Source**: https://4ort.xyz/entity/robust-bearing-based-formation-tracking-control-of-underactuated-surface-vessels-an-output-regulation-approach