# Cluster Time-Varying Formation-Containment Tracking of Networked Robotic Systems Via Hierarchical Prescribed-Time ESO-Based Control

> Research article (IEEE Transactions on Network Science and Engineering, 2023) · cited 29× · AI/ML

**Wikidata**: [openalex:W4385732534](https://www.wikidata.org/wiki/openalex:W4385732534)  
**Source**: https://4ort.xyz/entity/cluster-time-varying-formation-containment-tracking-of-networked-robotic-systems-via-hierarchical-prescribed-time-eso-ba