# A nonlinear internal model design for heterogeneous second-order multi-agent systems with unknown leader

> Research article (Automatica, 2018) · cited 22× · AI/ML

**Wikidata**: [openalex:W2789765376](https://www.wikidata.org/wiki/openalex:W2789765376)  
**Source**: https://4ort.xyz/entity/a-nonlinear-internal-model-design-for-heterogeneous-second-order-multi-agent-systems-with-unknown-leader