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To settle the output error constraints, a standard barrier Lyapunov function (BLF) is incorporated into the backstepping control method. Furthermore, the \u201cdifferential explosion\u201d problem of virtual control laws is avoided by introducing the dynamic surface control. To estimate the unknown dynamic terms, an adaptive neural network is designed and a nonlinear disturbance observer is adopted to compensate for the approximation errors of neural network and ocean environment disturbances. Under the constraint of output error, the presented controller based on standard BLF has simpler structure and better control performance than depended on tan-type BLF. The presented controller can ensure that the formation errors converge to a small range around zero, while the output error constraint requirements are met. All signals in the closed-loop system are bounded, and the numerical simulation further shows the effectiveness of the presented control scheme.<\/jats:p>","DOI":"10.1177\/01423312211047104","type":"journal-article","created":{"date-parts":[[2021,10,5]],"date-time":"2021-10-05T00:38:49Z","timestamp":1633394329000},"page":"1081-1094","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":10,"title":["Concise leader-follower formation control of underactuated unmanned surface vehicle with output error constraints"],"prefix":"10.1177","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9945-770X","authenticated-orcid":false,"given":"Meijiao","family":"Zhao","sequence":"first","affiliation":[{"name":"School of Mechatronic Engineering and Automation, Shanghai University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yan","family":"Peng","sequence":"additional","affiliation":[{"name":"School 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