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The method can significantly simplify the design process of the backstepping controller through the use of a filter rather than the analytic derivation directly to the virtual control variable. Furthermore, the influence of measurement noise is obviously weakened. The stability of the formation system of multiple UUVs has been proved based on Lyapunov stability theory. Simulation results illustrate that the designed controller can track a three-dimensional formation trajectory accurately.<\/jats:p>","DOI":"10.1017\/s0263574716000436","type":"journal-article","created":{"date-parts":[[2016,7,26]],"date-time":"2016-07-26T09:27:06Z","timestamp":1469525226000},"page":"1690-1711","source":"Crossref","is-referenced-by-count":11,"title":["Three-dimensional formation control based on filter backstepping method for multiple underactuated underwater vehicles"],"prefix":"10.1017","volume":"35","author":[{"given":"Xue","family":"Qi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhi-jun","family":"Cai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2016,7,26]]},"reference":[{"key":"S0263574716000436_ref23","unstructured":"H. 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