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A symmetric barrier Lyapunov function (BLF), which advances to infinity when its arguments reach a finite limit, is applied to prevent the state variables from violating constraints. An adaptive-neural technique is employed to compensate uncertain parameters and unmodeled dynamics. To overcome the explosion of differentiation term problem, a first-order filter is proposed to realize the derivative of virtual variables in the dynamic surface control (DSC). To estimate the leader velocity in finite time, a high-gain observer is effectively employed. This approach is adopted to reveal all signals of the closed-loop system which are bounded, and the formation tracking errors are semi-globally finite-time uniformly bounded. The computer simulation results demonstrate the efficacy of this newly proposed formation controller for the autonomous surface vessels.<\/jats:p>","DOI":"10.1017\/s0263574722001266","type":"journal-article","created":{"date-parts":[[2022,9,12]],"date-time":"2022-09-12T08:13:32Z","timestamp":1662970412000},"page":"236-258","source":"Crossref","is-referenced-by-count":42,"title":["Terminal sliding-mode disturbance observer-based finite-time adaptive-neural formation control of autonomous surface vessels under output constraints"],"prefix":"10.1017","volume":"41","author":[{"given":"Amir","family":"Naderolasli","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1799-2141","authenticated-orcid":false,"given":"Khoshnam","family":"Shojaei","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abbas","family":"Chatraei","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2022,9,12]]},"reference":[{"key":"S0263574722001266_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2013.07.003"},{"key":"S0263574722001266_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.05.004"},{"key":"S0263574722001266_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574717000145"},{"key":"S0263574722001266_ref6","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20040484"},{"key":"S0263574722001266_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2583999"},{"key":"S0263574722001266_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2758743"},{"key":"S0263574722001266_ref37","first-page":"2567","article-title":"Adaptive practical optimal time-varying formation tracking control for disturbed High-Order Multi-Agent systems","volume":"69","author":"Yu","year":"2022","journal-title":"IEEE Trans. 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