Meijiao Zhao Yan Peng 0001 Yueying Wang Dan Zhang 0001 Jun Luo 0006 Huayan Pu Concise leader-follower formation control of underactuated unmanned surface vehicle with output error constraints. 1081-1094 2022 44 Trans. Inst. Meas. Control 5 https://doi.org/10.1177/01423312211047104 db/journals/tinstmc/tinstmc44.html#ZhaoPWZLP22
