The robust adaptive leader-follower formation control of uncertain unmanned surface vehicles (USVs) subject to stochastic environmental loads is investigated in this paper. The stochastic additive noises are included in the kinematics which stands for the un-modeled dynamics and uncertainty. The disturbances induced by waves. wind and ocean currents in the kinetics are also separated ... https://www.protectoracarballo.com/product-category/dongs/