# Adaptive Output Formation-Tracking of Heterogeneous Multi-Agent Systems Using Time-Varying $\mathcal {L}_{2}$ -Gain Design

> Research article (IEEE Control Systems Letters, 2018) · cited 50× · AI/ML

**Wikidata**: [openalex:W2793186278](https://www.wikidata.org/wiki/openalex:W2793186278)  
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