# BLS-based formation control for nonlinear multi-agent systems with actuator fault and input saturation

> Research article (Nonlinear Dynamics, 2022) · cited 31× · AI/ML

**Wikidata**: [openalex:W4288726098](https://www.wikidata.org/wiki/openalex:W4288726098)  
**Source**: https://4ort.xyz/entity/bls-based-formation-control-for-nonlinear-multi-agent-systems-with-actuator-fault-and-input-saturation