{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,20]],"date-time":"2026-07-20T16:08:24Z","timestamp":1784563704629,"version":"3.55.0"},"reference-count":68,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100018532","name":"Major Scientific and Technological Innovation Project of Shandong Province","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100018532","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100014103","name":"Key Technology Research and Development Program of Shandong","doi-asserted-by":"publisher","award":["2024CXGC010804"],"award-info":[{"award-number":["2024CXGC010804"]}],"id":[{"id":"10.13039\/100014103","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Engineering Applications of Artificial Intelligence"],"published-print":{"date-parts":[[2026,10]]},"DOI":"10.1016\/j.engappai.2026.115546","type":"journal-article","created":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T16:39:21Z","timestamp":1782923961000},"page":"115546","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"P4","title":["Global robust adaptive fault-tolerant formation control of unmanned surface vessels with internal\/external uncertainties and saturated actuators under deception attacks"],"prefix":"10.1016","volume":"181","author":[{"given":"Ligangao","family":"Xu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6765-930X","authenticated-orcid":false,"given":"Qiang","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guibing","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Hu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sheng","family":"Xu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"10","key":"10.1016\/j.engappai.2026.115546_b1","doi-asserted-by":"crossref","first-page":"4643","DOI":"10.3390\/s23104643","article-title":"Survey on the developments of unmanned marine vehicles: Intelligence and cooperation","volume":"23","author":"Bae","year":"2023","journal-title":"Sensors"},{"key":"10.1016\/j.engappai.2026.115546_b2","first-page":"1","article-title":"Single-parameter-learning-based adaptive tracking control for USVs with unknown sensor measurement sensitivity under actuator saturation","author":"Cai","year":"2024","journal-title":"Ships Offshore Struct."},{"issue":"6","key":"10.1016\/j.engappai.2026.115546_b3","first-page":"725","article-title":"Fuzzy controller design subject to actuator saturation for dynamic ship positioning systems with multiplicative noises","volume":"224","author":"Chang","year":"2010","journal-title":"Proc. Inst. Mech. Eng. Part I: J. Syst. Control. Eng."},{"issue":"2","key":"10.1016\/j.engappai.2026.115546_b4","doi-asserted-by":"crossref","first-page":"1445","DOI":"10.1109\/TASE.2023.3248178","article-title":"Novel adaptive control for flexible-joint robots with unknown measurement sensitivity","volume":"21","author":"Diao","year":"2023","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"10.1016\/j.engappai.2026.115546_b5","doi-asserted-by":"crossref","first-page":"1674","DOI":"10.1016\/j.neucom.2017.10.009","article-title":"A survey on security control and attack detection for industrial cyber-physical systems","volume":"275","author":"Ding","year":"2018","journal-title":"Neurocomputing"},{"issue":"8","key":"10.1016\/j.engappai.2026.115546_b6","doi-asserted-by":"crossref","first-page":"1936","DOI":"10.1109\/TCYB.2016.2582802","article-title":"Observer-based event-triggering consensus control for multiagent systems with lossy sensors and cyber-attacks","volume":"47","author":"Ding","year":"2016","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.engappai.2026.115546_b7","series-title":"2016 35th Chinese Control Conference","first-page":"7561","article-title":"Adaptive coordinated formation control for multiple surface vessels based on virtual leader","author":"Ding","year":"2016"},{"key":"10.1016\/j.engappai.2026.115546_b8","doi-asserted-by":"crossref","DOI":"10.2478\/pomr-2022-0025","article-title":"An improved dynamic surface sliding mode method for autonomous cooperative formation control of underactuated USVs with complex marine environment disturbances","author":"Dong","year":"2022","journal-title":"Pol. Marit. Res."},{"key":"10.1016\/j.engappai.2026.115546_b9","first-page":"1","article-title":"Adaptive fuzzy tracking control for flexible-joint robots with random disturbances and unknown measurement sensitivity","author":"Dong","year":"2025","journal-title":"Int. J. Fuzzy Syst."},{"key":"10.1016\/j.engappai.2026.115546_b10","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2023.113633","article-title":"Autonomous cooperative formation control of underactuated USVs based on improved MPC in complex ocean environment","volume":"270","author":"Dong","year":"2023","journal-title":"Ocean Eng."},{"issue":"339","key":"10.1016\/j.engappai.2026.115546_b11","doi-asserted-by":"crossref","first-page":"38","DOI":"10.2307\/3608355","article-title":"2742. A mean value theorem","volume":"42","author":"Flett","year":"1958","journal-title":"Math. Gaz."},{"key":"10.1016\/j.engappai.2026.115546_b12","doi-asserted-by":"crossref","first-page":"219","DOI":"10.1016\/j.oceaneng.2018.04.016","article-title":"Finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and disturbances","volume":"159","author":"Fu","year":"2018","journal-title":"Ocean Eng."},{"issue":"1","key":"10.1016\/j.engappai.2026.115546_b13","doi-asserted-by":"crossref","first-page":"572","DOI":"10.1109\/TII.2018.2839739","article-title":"Leader\u2013follower formation control of USVs with prescribed performance and collision avoidance","volume":"15","author":"He","year":"2018","journal-title":"IEEE Trans. Ind. Inform."},{"key":"10.1016\/j.engappai.2026.115546_b14","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1016\/j.neucom.2018.08.056","article-title":"Robust adaptive NN control of dynamically positioned vessels under input constraints","volume":"318","author":"Hu","year":"2018","journal-title":"Neurocomputing"},{"issue":"6","key":"10.1016\/j.engappai.2026.115546_b15","doi-asserted-by":"crossref","first-page":"5470","DOI":"10.1109\/TITS.2021.3054177","article-title":"Robust synchronization for under-actuated vessels based on disturbance observer","volume":"23","author":"Hu","year":"2021","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"10.1016\/j.engappai.2026.115546_b16","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2020.107920","article-title":"Adaptive synchronization for surface vessels with disturbances and saturated thruster dynamics","volume":"216","author":"Hu","year":"2020","journal-title":"Ocean Eng."},{"issue":"5","key":"10.1016\/j.engappai.2026.115546_b17","doi-asserted-by":"crossref","first-page":"3722","DOI":"10.1109\/TCYB.2020.3012560","article-title":"Fixed-time prescribed tracking control for stochastic nonlinear systems with unknown measurement sensitivity","volume":"52","author":"Hua","year":"2020","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.engappai.2026.115546_b18","article-title":"A dynamic time assignment communication mechanism-based formation control for internet of unmanned surface vehicles under DoS attacks","author":"Huang","year":"2024","journal-title":"IEEE Internet Things J."},{"key":"10.1016\/j.engappai.2026.115546_b19","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2021.109158","article-title":"Finite-time distributed formation control for multiple unmanned surface vehicles with input saturation","volume":"233","author":"Huang","year":"2021","journal-title":"Ocean Eng."},{"key":"10.1016\/j.engappai.2026.115546_b20","doi-asserted-by":"crossref","first-page":"228","DOI":"10.1016\/j.automatica.2016.01.064","article-title":"Fault tolerant finite-time leader\u2013follower formation control for autonomous surface vessels with LOS range and angle constraints","volume":"68","author":"Jin","year":"2016","journal-title":"Automatica"},{"key":"10.1016\/j.engappai.2026.115546_b21","doi-asserted-by":"crossref","DOI":"10.1109\/TCYB.2025.3591555","article-title":"Indirect adaptive interval type-3 fuzzy tracking control for nonlinear discrete-time networked control systems with DoS attacks","author":"Khalifa","year":"2025","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.engappai.2026.115546_b22","doi-asserted-by":"crossref","first-page":"180","DOI":"10.1016\/j.oceaneng.2019.03.017","article-title":"Robust time-varying formation control for underactuated autonomous underwater vehicles with disturbances under input saturation","volume":"179","author":"Li","year":"2019","journal-title":"Ocean Eng."},{"key":"10.1016\/j.engappai.2026.115546_b23","doi-asserted-by":"crossref","first-page":"186","DOI":"10.1016\/j.isatra.2024.08.022","article-title":"Distributed fixed-time formation tracking control for multiple underactuated USVs with lumped uncertainties and input saturation","volume":"154","author":"Li","year":"2024","journal-title":"ISA Trans."},{"issue":"7","key":"10.1016\/j.engappai.2026.115546_b24","doi-asserted-by":"crossref","first-page":"3303","DOI":"10.1109\/TAC.2020.3017711","article-title":"Distributed output-feedback consensus control of multiagent systems with unknown output measurement sensitivity","volume":"66","author":"Li","year":"2020","journal-title":"IEEE Trans. Autom. Control"},{"issue":"3","key":"10.1016\/j.engappai.2026.115546_b25","first-page":"915","article-title":"A DSC approach to robust adaptive NN tracking control for strict-feedback nonlinear systems","volume":"40","author":"Li","year":"2009","journal-title":"IEEE Trans. Syst. Man Cybern. B"},{"key":"10.1016\/j.engappai.2026.115546_b26","doi-asserted-by":"crossref","first-page":"182","DOI":"10.1016\/j.isatra.2019.08.027","article-title":"Design of output feedback controller for stochastic feedforward systems with unknown measurement sensitivity","volume":"97","author":"Li","year":"2020","journal-title":"ISA Trans."},{"issue":"3","key":"10.1016\/j.engappai.2026.115546_b27","doi-asserted-by":"crossref","first-page":"4149","DOI":"10.1109\/TII.2023.3313651","article-title":"Secure leader\u2013follower formation control of networked mobile robots under replay attacks","volume":"20","author":"Liu","year":"2023","journal-title":"IEEE Trans. Ind. Inform."},{"issue":"7","key":"10.1016\/j.engappai.2026.115546_b28","doi-asserted-by":"crossref","first-page":"1532","DOI":"10.1109\/TNNLS.2014.2344019","article-title":"Adaptive NN control of a class of nonlinear systems with asymmetric saturation actuators","volume":"26","author":"Ma","year":"2014","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"2","key":"10.1016\/j.engappai.2026.115546_b29","doi-asserted-by":"crossref","first-page":"1067","DOI":"10.1007\/s11071-016-2744-y","article-title":"Fault detection and accommodation of saturated actuators for underactuated surface vessels in the presence of nonlinear uncertainties","volume":"85","author":"Park","year":"2016","journal-title":"Nonlinear Dynam."},{"issue":"2","key":"10.1016\/j.engappai.2026.115546_b30","doi-asserted-by":"crossref","first-page":"513","DOI":"10.1109\/TCST.2011.2181513","article-title":"Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics","volume":"21","author":"Peng","year":"2012","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"2","key":"10.1016\/j.engappai.2026.115546_b31","doi-asserted-by":"crossref","first-page":"732","DOI":"10.1109\/TII.2020.3004343","article-title":"An overview of recent advances in coordinated control of multiple autonomous surface vehicles","volume":"17","author":"Peng","year":"2020","journal-title":"IEEE Trans. Ind. Informatics"},{"issue":"9","key":"10.1016\/j.engappai.2026.115546_b32","doi-asserted-by":"crossref","first-page":"1459","DOI":"10.1049\/iet-cta.2016.1424","article-title":"Stabilisation of locally Lipschitz non-linear systems under input saturation and quantisation","volume":"11","author":"Rehan","year":"2017","journal-title":"IET Control Theory Appl."},{"issue":"4","key":"10.1016\/j.engappai.2026.115546_b33","doi-asserted-by":"crossref","first-page":"11641","DOI":"10.1109\/LRA.2022.3204815","article-title":"Conditional disturbance negation based control for an omnidirectional mobile robot: An energy perspective","volume":"7","author":"Ren","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"4","key":"10.1016\/j.engappai.2026.115546_b34","doi-asserted-by":"crossref","first-page":"2693","DOI":"10.1109\/TII.2021.3106009","article-title":"Lyapunov-based control of a nonlinear multiagent system with a time-varying input delay under false-data-injection attacks","volume":"18","author":"Sargolzaei","year":"2021","journal-title":"IEEE Trans. Ind. Inform."},{"key":"10.1016\/j.engappai.2026.115546_b35","doi-asserted-by":"crossref","DOI":"10.1016\/j.engappai.2025.111213","article-title":"An adaptive output feedback formation control algorithm for multiple unmanned surface vehicles based on virtual structure and line-of-sight guidance","author":"Sheng","year":"2025","journal-title":"Eng. Appl. Artif. Intell."},{"issue":"2","key":"10.1016\/j.engappai.2026.115546_b36","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1016\/j.automatica.2004.10.006","article-title":"Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory","volume":"41","author":"Skjetne","year":"2005","journal-title":"Automatica"},{"key":"10.1016\/j.engappai.2026.115546_b37","first-page":"1699","article-title":"Nonlinear formation control of marine craft","volume":"vol. 2","author":"Skjetne","year":"2002"},{"issue":"10","key":"10.1016\/j.engappai.2026.115546_b38","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1016\/S1474-6670(17)31732-9","article-title":"Modeling, identification, and adaptive maneuvering of cybership II: A complete design with experiments","volume":"37","author":"Skjetne","year":"2004","journal-title":"IFAC Proc. Vol."},{"issue":"10","key":"10.1016\/j.engappai.2026.115546_b39","doi-asserted-by":"crossref","first-page":"1893","DOI":"10.1109\/TAC.2000.880994","article-title":"Dynamic surface control for a class of nonlinear systems","volume":"45","author":"Swaroop","year":"2002","journal-title":"IEEE Trans. Autom. Control"},{"key":"10.1016\/j.engappai.2026.115546_b40","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2021.109147","article-title":"Coordination control for multiple unmanned surface vehicles using hybrid behavior-based method","volume":"232","author":"Tan","year":"2021","journal-title":"Ocean Eng."},{"issue":"14","key":"10.1016\/j.engappai.2026.115546_b41","doi-asserted-by":"crossref","first-page":"4909","DOI":"10.1002\/rnc.4668","article-title":"Global sampled-data output-feedback stabilization for nonlinear systems with unknown measurement sensitivity","volume":"29","author":"Wang","year":"2019","journal-title":"Internat. J. Robust Nonlinear Control"},{"issue":"5","key":"10.1016\/j.engappai.2026.115546_b42","doi-asserted-by":"crossref","first-page":"1753","DOI":"10.1109\/TII.2016.2526648","article-title":"Network-based fault detection filter and controller coordinated design for unmanned surface vehicles in network environments","volume":"12","author":"Wang","year":"2016","journal-title":"IEEE Trans. Ind. Inform."},{"key":"10.1016\/j.engappai.2026.115546_b43","article-title":"Finite-time adaptive neural control for nonstrict-feedback stochastic nonlinear systems with input delay and output constraints","volume":"393","author":"Wang","year":"2021","journal-title":"Appl. Math. Comput."},{"issue":"3","key":"10.1016\/j.engappai.2026.115546_b44","doi-asserted-by":"crossref","first-page":"561","DOI":"10.3390\/jmse13030561","article-title":"Nonlinear sliding-mode super-twisting reaching law for unmanned surface vessel formation control under coupling deception attacks","volume":"13","author":"Wang","year":"2025","journal-title":"J. Mar. Sci. Eng."},{"issue":"13","key":"10.1016\/j.engappai.2026.115546_b45","doi-asserted-by":"crossref","first-page":"2972","DOI":"10.1177\/01423312211022461","article-title":"Adaptive neural formation control of autonomous underactuated surface vessels based on disturbance observer with leader\u2013follower strategy","volume":"43","author":"Wu","year":"2021","journal-title":"Trans. Inst. Meas. Control"},{"key":"10.1016\/j.engappai.2026.115546_b46","unstructured":"Wu, Chen, Zhu, Guibing, Liu, Yongchao, Li, Feng, Self-triggered adaptive neural control for USVs with sensor measurement sensitivity under deception attacks. J. Field Robot.."},{"key":"10.1016\/j.engappai.2026.115546_b47","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2023.113641","article-title":"Indirect adaptive neural tracking control of USVs under injection and deception attacks","volume":"270","author":"Wu","year":"2023","journal-title":"Ocean Eng."},{"key":"10.1016\/j.engappai.2026.115546_b48","doi-asserted-by":"crossref","unstructured":"Xiao, Rui, Zhao, Jing, Liu, Chun, 2024. Adaptive Neural Network Formation Control of Multi-Usvs with Unmodeled Dynamics Using Value Decomposition Reinforcement Learning. In: Proceedings of the 2024 7th International Conference on Robot Systems and Applications. pp. 41\u201345.","DOI":"10.1145\/3702468.3702474"},{"key":"10.1016\/j.engappai.2026.115546_b49","doi-asserted-by":"crossref","DOI":"10.1016\/j.rineng.2025.107726","article-title":"Robust adaptive formation control of USVs with sensor measurement sensitivity and external disturbance under input saturation","author":"Xu","year":"2025","journal-title":"Results Eng."},{"key":"10.1016\/j.engappai.2026.115546_b50","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2024.118022","article-title":"Periodic event-triggered adaptive neural control of USVs under replay attacks","volume":"306","author":"Xu","year":"2024","journal-title":"Ocean Eng."},{"issue":"1","key":"10.1016\/j.engappai.2026.115546_b51","doi-asserted-by":"crossref","first-page":"22515","DOI":"10.1038\/s41598-024-73560-z","article-title":"Adaptive formation control for obstacle avoidance of USVs with asymmetric input saturation","volume":"14","author":"Yancai","year":"2024","journal-title":"Sci. Rep."},{"key":"10.1016\/j.engappai.2026.115546_b52","series-title":"Safe event-triggered control of unmanned surface vehicles with Gaussian processes:: Resilience in denial of service attacks and uncertain dynamics","author":"Yang","year":"2025"},{"issue":"12","key":"10.1016\/j.engappai.2026.115546_b53","doi-asserted-by":"crossref","first-page":"7700","DOI":"10.1109\/TII.2020.2974047","article-title":"Maritime search and rescue based on group mobile computing for unmanned aerial vehicles and unmanned surface vehicles","volume":"16","author":"Yang","year":"2020","journal-title":"IEEE Trans. Ind. Inform."},{"key":"10.1016\/j.engappai.2026.115546_b54","doi-asserted-by":"crossref","DOI":"10.1109\/TSMC.2024.3460369","article-title":"Adaptive fuzzy formation control for underactuated multi-USVs with dynamic event-triggered communication","author":"Yu","year":"2024","journal-title":"IEEE Trans. Syst. Man, Cybern.: Syst."},{"issue":"3","key":"10.1016\/j.engappai.2026.115546_b55","doi-asserted-by":"crossref","first-page":"774","DOI":"10.1109\/TFUZZ.2022.3189412","article-title":"Event-triggered cooperative adaptive fuzzy control for stochastic nonlinear systems with measurement sensitivity and deception attacks","volume":"31","author":"Zhang","year":"2022","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"4","key":"10.1016\/j.engappai.2026.115546_b56","doi-asserted-by":"crossref","first-page":"2444","DOI":"10.1109\/TSMC.2022.3212391","article-title":"Adaptive neural control of nonlinear cyber\u2013physical systems against randomly occurring false data injection attacks","volume":"53","author":"Zhang","year":"2022","journal-title":"IEEE Trans. Syst. Man, Cybern.: Syst."},{"key":"10.1016\/j.engappai.2026.115546_b57","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2021.109390","article-title":"A novel event-triggered robust neural formation control for USVs with the optimized leader\u2013follower structure","volume":"235","author":"Zhang","year":"2021","journal-title":"Ocean Eng."},{"key":"10.1016\/j.engappai.2026.115546_b58","article-title":"Adaptive terminal sliding mode control for USV-rovs formation under deceptive attacks","volume":"11","author":"Zhang","year":"2024","journal-title":"Front. Mar. Sci."},{"issue":"5","key":"10.1016\/j.engappai.2026.115546_b59","doi-asserted-by":"crossref","first-page":"1851","DOI":"10.1109\/TCST.2017.2728518","article-title":"Adaptive trajectory tracking control of a fully actuated surface vessel with asymmetrically constrained input and output","volume":"26","author":"Zheng","year":"2017","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"10","key":"10.1016\/j.engappai.2026.115546_b60","doi-asserted-by":"crossref","first-page":"1794","DOI":"10.1109\/TSMC.2017.2717850","article-title":"Error-constrained LOS path following of a surface vessel with actuator saturation and faults","volume":"48","author":"Zheng","year":"2017","journal-title":"IEEE Trans. Syst. Man, Cybern.: Syst."},{"issue":"2","key":"10.1016\/j.engappai.2026.115546_b61","doi-asserted-by":"crossref","first-page":"442","DOI":"10.1109\/JOE.2018.2877895","article-title":"Global robust adaptive trajectory tracking control for surface ships under input saturation","volume":"45","author":"Zhu","year":"2018","journal-title":"IEEE J. Ocean. Eng."},{"key":"10.1016\/j.engappai.2026.115546_b62","article-title":"FT-ILOS-based adaptive fuzzy path following of USVs under input saturation via parallel-self-triggered approach","author":"Zhu","year":"2025","journal-title":"IEEE J. Ocean. Eng."},{"issue":"8","key":"10.1016\/j.engappai.2026.115546_b63","doi-asserted-by":"crossref","first-page":"4922","DOI":"10.1109\/TSMC.2023.3256538","article-title":"Event-triggered adaptive PID fault-tolerant control of underactuated ASVs under saturation constraint","volume":"53","author":"Zhu","year":"2023","journal-title":"IEEE Trans. Syst. Man, Cybern.: Syst."},{"key":"10.1016\/j.engappai.2026.115546_b64","article-title":"Event-sampled adaptive fuzzy control of MASS via intermittent position data","author":"Zhu","year":"2025","journal-title":"IEEE Trans. Emerg. Top. Comput. Intell."},{"issue":"7","key":"10.1016\/j.engappai.2026.115546_b65","doi-asserted-by":"crossref","first-page":"7045","DOI":"10.1109\/TITS.2021.3066461","article-title":"Event-triggered adaptive neural fault-tolerant control of underactuated MSVs with input saturation","volume":"23","author":"Zhu","year":"2021","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"1","key":"10.1016\/j.engappai.2026.115546_b66","doi-asserted-by":"crossref","first-page":"787","DOI":"10.1109\/TITS.2022.3217152","article-title":"Dynamic event-triggered adaptive neural output feedback control for MSVs using composite learning","volume":"24","author":"Zhu","year":"2022","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"10.1016\/j.engappai.2026.115546_b67","article-title":"Resource-constrained adaptive neural output feedback security control for networked USVs under dual-channel malicious attacks","author":"Zhu","year":"2025","journal-title":"IEEE Trans. Veh. Technol."},{"key":"10.1016\/j.engappai.2026.115546_b68","doi-asserted-by":"crossref","DOI":"10.1016\/j.engappai.2025.110237","article-title":"Periodic event-triggered adaptive neural output feedback tracking control of unmanned surface vehicles under replay attacks","volume":"146","author":"Zhu","year":"2025","journal-title":"Eng. Appl. Artif. Intell."}],"container-title":["Engineering Applications of Artificial Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0952197626018300?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0952197626018300?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,20]],"date-time":"2026-07-20T15:47:15Z","timestamp":1784562435000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0952197626018300"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,10]]},"references-count":68,"alternative-id":["S0952197626018300"],"URL":"https:\/\/doi.org\/10.1016\/j.engappai.2026.115546","relation":{},"ISSN":["0952-1976"],"issn-type":[{"value":"0952-1976","type":"print"}],"subject":[],"published":{"date-parts":[[2026,10]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Global robust adaptive fault-tolerant formation control of unmanned surface vessels with internal\/external uncertainties and saturated actuators under deception attacks","name":"articletitle","label":"Article Title"},{"value":"Engineering Applications of Artificial Intelligence","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.engappai.2026.115546","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"115546"}}