@article{Jia_2026,
  title={{Structure-Preserving Safe and Robust Formation Control of Autonomous Surface Vehicles via a Port-Hamiltonian Framework}},
  ISSN={1941-0050},
  DOI={10.1109/tii.2026.3690546},
  journal={IEEE Transactions on Industrial Informatics},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Jia, Zehua and Xie, Kun and Bai, Xiaoshan and Xue, Shan and Zhang, Weidong},
  year={2026},
  pages={1--12}
}