Fixed-time cooperative encircling fault-tolerant control of multiple unmanned surface vehicles with actuator faults 
杨德智, 徐海祥, 余文曌, 杜哲
Journal of Dalian Maritime University . 2025, (1): 21 -30 .  DOI: 10.16411/j.cnki.issn1006-7736.2025.01.003

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