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Moreover, an iteration optimizing algorithm is provided to reduce the convergence domain around the sliding surface via searching a desirable sliding gain, which constitutes an effective GA-based sliding-mode control strategy. Finally, the proposed control scheme is verified via the simulation results.This article investigates the model-free containment control of multiple underactuated unmanned surface vessels (USVs) subject to unknown kinetic models. A novel cooperative control architecture is presented for achieving a containme
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