# Two‐layer leader‐follower optimal affine formation maneuver control for networked unmanned surface vessels with input saturations

> Research article (International Journal of Robust and Nonlinear Control, 2023) · cited 65× · AI/ML

**Wikidata**: [openalex:W4389228403](https://www.wikidata.org/wiki/openalex:W4389228403)  
**Source**: https://4ort.xyz/entity/twolayer-leaderfollower-optimal-affine-formation-maneuver-control-for-networked-unmanned-surface-vessels-with-input-satu