# Trajectory tracking control for marine vessels with error constraints : A barrier function sliding mode approach

> Research article (Ocean Engineering, 2024) · cited 10× · AI/ML

**Wikidata**: [openalex:W4391831115](https://www.wikidata.org/wiki/openalex:W4391831115)  
**Source**: https://4ort.xyz/entity/trajectory-tracking-control-for-marine-vessels-with-error-constraints-a-barrier-function-sliding-mode-approach